Hi Nathan! Thanks for the reply.What I would like to know is where comes from the number 1091.5.I know that the number 34800 comes from: 7.5 * 580 * 8, where 7.5 is the baseline, 580 is the focal length of the IR camera, and 8 is due to subpixel accuracy.But I don’t know where the number “1091.5″ comes from .Thank you very much.