[ros-users] Point Cloud with Incorrect Rotation from stereo_image_proc

[Michael Koval]

I am using stereo_image_proc to process images captured by a custom stereo camera system and am getting a strange rotation in the output point cloud. The distance from the camera to each reconstructed point matches ground truth, but all of the points appear to be rotated around the camera's y-axis.

When visualized in RViz using the "camera" view, the point cloud aligns with the left camera's rectified image, but does not align with the original image. This makes me believe that the point cloud is being published in the rectified camera frame (which may be rotated w.r.t. the left camera frame), as opposed to the actual frame of the left camera.

Has anyone encountered and/or solved a similar problem with the output of stereo_image_proc?

-Michael