completely black rectified images (Kind of solve....?) [closed]

edit

I did the calibration again, this time separately, one camera at a time. They were fixed on the table and I moved the calibration pattern, which is attached to a rigid surface. I also changed the resolution of the cameras so as to have the biggest resolution they can. The results seem similar for the camera matrix, but the distortion values are not all the same and the rectification matrix is always the identity......is that correct.....?. Here are the new values:

left:

# oST version 5.0 parameters


[image]

width
1280

height
1024

[narrow_stereo]

camera matrix
2295.015272 0.000000 640.541295
0.000000 2303.682687 471.554511
0.000000 0.000000 1.000000

distortion
-0.465980 -0.188907 0.003472 0.003497 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
2199.656494 0.000000 642.325188 0.000000
0.000000 2244.262207 470.208280 0.000000
0.000000 0.000000 1.000000 0.000000

right:

# oST version 5.0 parameters


[image]

width
1280

height
1024

[narrow_stereo]

camera matrix
2339.253648 0.000000 634.067723
0.000000 2347.476009 479.539465
0.000000 0.000000 1.000000

distortion
-0.444712 -0.188235 0.000477 0.002607 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
2250.488770 0.000000 634.664472 0.000000
0.000000 2291.515381 477.643991 0.000000
0.000000 0.000000 1.000000 0.000000

Thanks again for the help!

EDIT 1: Seems to be ok. These are the rectified images and the disparity image I get after running:

ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_pcoc
rosrun image_view stereo_view stereo:=stereo image:=image_rect_color

And here is the result: http://oi68.tinypic.com/9plshk.jpg

Is the disparity image correct?

As one camera is rotated clockwise and the other counter-clockwise, what would be the best way to have the images rotated? Should they be rotated 'before' or 'after' the stereo_proc node? I mean, should I rotate the raw images I get directly from the cameras to be inputs of stereo_proc node? Again, thanks a lot for the help!

EDIT 1: I rotated the cameras by subscribing to the original /stereo/{left,right}/image_raw and publishing them on another topic like this:

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Image.h>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>

cv::Mat dst;

/* Subscribe and Publish class: http://answers.ros.org/question/59725/publishing-to-a-topic-via-subscriber-callback-function/ */
/* Publish image: http://answers.ros.org/question/192959/how-to-publish-and-sub-camera-in-opencv/ */

class SubscribeAndPublish
{
    public:
        SubscribeAndPublish()
        {
            //Topic to Subscribe
            subMasterImage_ = n_.subscribe("stereo/left/image_raw", 1, &SubscribeAndPublish::callbackMaster, this);
            subSlaveImage_ = n_.subscribe("stereo/right/image_raw", 1, &SubscribeAndPublish::callbackSlave, this);

            //Topic to Publish
            pubMasterImage_ = n_.advertise<sensor_msgs::Image>("stereorotated/left/image_raw", 1);
            pubSlaveImage_ = n_.advertise<sensor_msgs::Image>("stereorotated/right/image_raw", 1);
        }

        void callbackMaster(const sensor_msgs::ImageConstPtr& input)
        {
            cv_bridge::CvImage rotatedimage;
            try ...