Camera Calibration

I wrote the code for calibrate my camera, it seems to find the 
chessboard but cvCalibrateCamera fills rotation matrix with identity 
and the others with numbers not valid.
Anybody knows why?
Here's my 
code, I append also my chessboard picture.
Thanks...

bool calibrate
(unsigned cam)
{
    const char *name= "Grayscale image";
    
    
const int width= 5;
    const int height= 6;

    int npoints[]= { 
width*height };

    float distortion[4];
    float homography[9];
    
float translation[3];
    float rotation[9];

    CvMat mat1, mat2;

    static CvPoint2D32f img_point[width*height];
    static 
CvPoint3D32f obj_point[width*height]=
    {
        cvPoint3D32f(1.0, 
1.0, 0.0),
        cvPoint3D32f(2.0, 1.0, 0.0),
        cvPoint3D32f
(3.0, 1.0, 0.0),
        cvPoint3D32f(4.0, 1.0, 0.0),
        
cvPoint3D32f(1.0, 2.0, 0.0),
        cvPoint3D32f(2.0, 2.0, 0.0),
        cvPoint3D32f(3.0, 2.0, 0.0),
        cvPoint3D32f(4.0, 2.0, 
0.0),
        cvPoint3D32f(1.0, 3.0, 0.0),
        cvPoint3D32f(2.0, 
3.0, 0.0),
        cvPoint3D32f(3.0, 3.0, 0.0),
        cvPoint3D32f
(4.0, 3.0, 0.0),
        cvPoint3D32f(1.0, 4.0, 0.0),
        
cvPoint3D32f(2.0, 4.0, 0.0),
        cvPoint3D32f(3.0, 4.0, 0.0),
        cvPoint3D32f(4.0, 4.0, 0.0),
        cvPoint3D32f(1.0, 5.0, 
0.0),
        cvPoint3D32f(2.0, 5.0, 0.0),
        cvPoint3D32f(3.0, 
5.0, 0.0),
        cvPoint3D32f(4.0, 5.0, 0.0)
    };

    static 
IplImage *gray= cvCreateImage(size, IPL_DEPTH_8U, 1);
    static 
IplImage *tmp= cvCreateImage(size, IPL_DEPTH_8U, 1);
    
    cvCvtColor
(rgb, gray, CV_BGR2GRAY);
    
    gray->origin= rgb->origin;
    
    
cvNamedWindow(name, 1);
    cvShowImage(name, gray);
    
    if
(cvFindChessBoardCornerGuesses(gray, tmp, 0,
        cvSize(width, 
height), img_point))
        return false;

    cvCalibrateCamera(1, 
npoints, size, img_point, obj_point,
        distortion, homography, 
translation, rotation, 1);

    cvSetIdentity(camera_mat[cam]);

    
mat1= cvMat(3, 3, CV_32FC1, rotation);
    cvGetSubRect(camera_mat
[cam], &mat2, cvRect(0, 0, 3, 3));
    cvCopy(&mat1, &mat2);
    
    
mat1= cvMat(3, 1, CV_32FC1, translation);
    cvGetSubRect(camera_mat
[cam], &mat2, cvRect(3, 0, 1, 3));
    cvCopy(&mat1, &mat2);
    
    
mat1= cvMat(3, 3, CV_32FC1, homography);
    cvGetSubRect(camera_mat
[cam], &mat2, cvRect(0, 0, 4, 3));
    cvMatMul(&mat1, &mat2, &mat2);
    
    cvInvert(camera_mat[cam], camera_invmat[cam]);

    trace
(camera_mat[cam]);
    trace(camera_invmat[cam]);
    
    return true;
}


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