diff --git a/src/mynteye/api/processor/depth_processor.cc b/src/mynteye/api/processor/depth_processor.cc
index bf9747d..10ce715 100644
--- a/src/mynteye/api/processor/depth_processor.cc
+++ b/src/mynteye/api/processor/depth_processor.cc
@@ -48,14 +48,14 @@ bool DepthProcessor::OnProcess(
   ObjMat *output = Object::Cast<ObjMat>(out);
   int rows = input->value.rows;
   int cols = input->value.cols;
+  std::cout << calib_infos_->T_mul_f << std::endl;
+  // 0.0793434
   // TODO(MYNTEYE): Put the corresponding parameters(T,f)
-  float T = 0.08;
-  float f = 0.01;
   cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_32F);
   for (int i = 0; i < rows; i++) {
     for (int j = 0; j < cols; j++) {
       float disparity_value = input->value.at<float>(i, j);
-      float depth = T * f / disparity_value;
+      float depth = calib_infos_->T_mul_f * 1000.0 / disparity_value ;
       depth_mat.at<float>(i, j) = depth;
     }
   }
diff --git a/src/mynteye/api/processor/points_processor.cc b/src/mynteye/api/processor/points_processor.cc
index 3e1e6c9..e41c3f8 100644
--- a/src/mynteye/api/processor/points_processor.cc
+++ b/src/mynteye/api/processor/points_processor.cc
@@ -75,12 +75,11 @@ Object *PointsProcessor::OnCreateOutput() {
 bool PointsProcessor::OnProcess(
   Object *const in, Object *const out, Processor *const parent) {
   MYNTEYE_UNUSED(parent)
-  std::cout << calib_infos_->left.height << std::endl;
 
-  float fx = 3.6797709792391299e+02;
-  float fy = 3.6808712539453859e+02;
-  float cx = 3.7414963027144353e+02;
-  float cy = 2.3125000326472903e+02;
+  float fx = calib_infos_->left.K[0];
+  float fy = calib_infos_->left.K[4];
+  float cx = calib_infos_->left.K[2];
+  float cy = calib_infos_->left.K[5];
 
   // Use correct principal point from calibration
   float center_x = cx;
diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index 5e2b862..b246005 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -41,7 +41,7 @@ void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
     camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
     const CvMat* D1, const CvMat* D2, CvSize imageSize,
     const CvMat* matR, const CvMat* matT,
-    CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
+    CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
     int flags, double alpha, CvSize newImgSize) {
   double _om[3], _t[3] = {0}, _uu[3]={0, 0, 0}, _r_r[3][3], _pp[3][4];
   double _ww[3], _wr[3][3], _z[3] = {0, 0, 0}, _ri[3][3], _w3[3];
@@ -67,7 +67,6 @@ void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
   cvConvertScale(&om, &om, -0.5);  // get average rotation
   cvRodrigues2(&om, &r_r);  // rotate cameras to same orientation by averaging
   cvMatMul(&r_r, matT, &t);
-
   int idx = fabs(_t[0]) > fabs(_t[1]) ? 0 : 1;
 
   // if idx == 0
@@ -168,6 +167,7 @@ void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
   _pp[0][2] = cc_new[1].x;
   _pp[1][2] = cc_new[1].y;
   _pp[idx][3] = _t[idx]*fc_new;  // baseline * focal length
+  *T_mul_f = 0. - _t[idx];
   cvConvert(&pp, _P2);
 
   alpha = MIN(alpha, 1.);
@@ -277,8 +277,9 @@ std::shared_ptr<struct camera_calib_info_pair> RectifyProcessor::stereoRectify(
   CvMat c_R = cv_R, c_t = cv_t;
   CvMat c_K1 = K1, c_K2 = K2, c_D1 = D1, c_D2 = D2;
   CvMat c_R1 = R1, c_R2 = R2, c_P1 = P1, c_P2 = P2;
+  double T_mul_f;
   stereoRectify(leftOdo, rightOdo, &c_K1, &c_K2, &c_D1, &c_D2,
-      image_size1, &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2);
+      image_size1, &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2, &T_mul_f);
 
   // std::cout << "K1: " << K1 << std::endl;
   // std::cout << "D1: " << D1 << std::endl;
@@ -308,7 +309,7 @@ std::shared_ptr<struct camera_calib_info_pair> RectifyProcessor::stereoRectify(
     }
   }
   struct camera_calib_info_pair res =
-      {calib_mat_data_left, calib_mat_data_right};
+      {calib_mat_data_left, calib_mat_data_right, T_mul_f};
   return std::make_shared<struct camera_calib_info_pair>(res);
 }
 
diff --git a/src/mynteye/api/processor/rectify_processor.h b/src/mynteye/api/processor/rectify_processor.h
index 782eb6d..046b186 100644
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@@ -53,6 +53,7 @@ struct camera_calib_info {
 struct camera_calib_info_pair {
   struct camera_calib_info left;
   struct camera_calib_info right;
+  double T_mul_f;
 };
 
 class Device;
@@ -94,7 +95,7 @@ class RectifyProcessor : public Processor {
       camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
       const CvMat* D1, const CvMat* D2, CvSize imageSize,
       const CvMat* matR, const CvMat* matT,
-      CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
+      CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
       int flags = cv::CALIB_ZERO_DISPARITY, double alpha = -1,
       CvSize newImgSize = cv::Size());