Processing Kitti Raw Data (bag format) through stereo_image_proc

asked 2022-10-09 22:50:11 -0600

I'm trying to run a Kitti Raw Data recording (converted to bag through kitti2bag) through stereo_image_proc to produce a disparity map from the stereo images, however the resulting rectified image (left/image_rect_color and right/image_rect_color along with monochrome equivalents) are warped and distorted and no disparity map is being produced (neither is a point cloud). Checking the disparity and point cloud topics with rostopic echo stalls with no output as well. I'll upload pictures as soon as possible.

My question for now is, what are the possible culprits for this not working? The bag format was generated from synced data, so I don't think it's a sync issue. Does it have something to do with the camera calibration? The Kitti Raw Data has calibration files included, and I made sure to put those in the directory when converting it to a bag, so I'm not sure why it would be calibrated wrong.

If anyone could give any ideas that could be causing this problem, please don't hesitate to share. Thank you.

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