Does not rectify the image

[Xcrater]

I am using ZED camera and I updated the camera parameters along with rectification parameters. In launch file I gave raw image topics. I have attached both my launch and config file. I don't want to use rectified image topic from ZED.

   <remap from="image_left/image_color_rect" to="/zed_node/left_raw/image_raw_color" />
   <remap from="image_right/image_color_rect" to="/zed_node/right_raw/image_raw_color" />

   <param name="publish_pointcloud" type="bool" value="true" />
   <param name="publish_pose" type="bool" value="true" />
   <param name="localize_only" type="bool" value="false" />
   <param name="reset_map" type="bool" value="false" />

   <!-- static parameters -->
   <param name="load_map" type="bool" value="false" />
   <param name="map_file" type="string" value="map.bin" />
   <param name="settings_file" type="string" value="$(find orb_slam2_ros)/orb_slam2/config/zed_SN15902_23-9-19.yaml" />
   <param name="voc_file" type="string" value="$(find orb_slam2_ros)/orb_slam2/Vocabulary/ORBvoc.txt" />

   <param name="pointcloud_frame_id" type="string" value="map" />
   <param name="camera_frame_id" type="string" value="camera_link" />
   <param name="min_num_kf_in_map" type="int" value="5" />

---

%YAML:1.0

#--------------------------------------------------------------------------------------------

Camera Parameters. Adjust them!

#--------------------------------------------------------------------------------------------

Camera calibration and distortion parameters (OpenCV) LEFT CAMERA

Camera.fx: 698.198459 Camera.fy: 696.152509 Camera.cx: 669.571348 Camera.cy: 321.899546

Camera.k1: -0.170866 Camera.k2: 0.024528 Camera.p1: 0.0 Camera.p2: 0.0

Camera.width: 1280 Camera.height: 720

Camera frames per second

Camera.fps: 30

stereo baseline times fx --> the baseline in fact is 11.997 cm, here camera.bf = camera.fx * 0.119964

Camera.bf: 83.763

Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)

Camera.RGB: 1

Close/Far threshold. Baseline times.

ThDepth: 50

#--------------------------------------------------------------------------------------------

Stereo Rectification. Only if you need to pre-rectify the images.

Camera.fx, .fy, etc must be the same as in LEFT.P

#--------------------------------------------------------------------------------------------

LEFT.height: 720 LEFT.width: 1280 LEFT.D: !!opencv-matrix rows: 1 cols: 5 dt: d data: [-0.170866, 0.024528, 0.000410, -0.000125, 0.000000] LEFT.K: !!opencv-matrix rows: 3 cols: 3 dt: d data: [698.198459, 0.000000, 669.571348, 0.000000, 696.152509, 321.899546, 0.000000, 0.000000, 1.000000]

LEFT.R: !!opencv-matrix rows: 3 cols: 3 dt: d data: [0.999943, -0.001762, 0.010539, 0.001747, 0.999997, 0.001510, -0.010542, -0.001491, 0.999943] LEFT.P: !!opencv-matrix rows: 3 cols: 4 dt: d data: [708.892105, 0.000000, 680.394615, 0.000000, 0.000000, 708.892105, 337.445454, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

RIGHT.height: 720 RIGHT.width: 1280 RIGHT.D: !!opencv-matrix rows: 1 cols: 5 dt: d data: [-0.170284, 0.025751, -0.000029, 0.000025, 0.000000] RIGHT.K: !!opencv-matrix rows: 3 cols: 3 dt: d data: [700.895341, 0.000000, 670.588030, 0.000000, 698.516857, 359.837712, 0.000000, 0.000000, 1.000000] RIGHT.R: !!opencv-matrix rows: 3 cols: 3 dt: d data: [0.999985, -0.003827, -0.003818, 0.003822, 0.999992, -0.001508, 0.003824, 0.001493, 0.999992] RIGHT.P: !!opencv-matrix rows: 3 cols: 4 dt: d data: [708.892105, 0.000000, 680.394615, -84.837327, 0.000000, 708.892105, 337.445454, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

#--------------------------------------------------------------------------------------------

ORB Parameters

#--------------------------------------------------------------------------------------------

ORB Extractor: Number of features per image

ORBextractor.nFeatures: 1200

ORB Extractor: Scale factor between levels in the scale pyramid

ORBextractor.scaleFactor: 1.2

ORB Extractor: Number of levels in the scale pyramid

ORBextractor.nLevels: 8

ORB Extractor: Fast threshold

Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.

Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST

You can lower these values if your images have low contrast

ORBextractor.iniThFAST: 30 ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------

Viewer Parameters

#-------------------------------------------------------------------------------------------- Viewer.KeyFrameSize: 0.05 Viewer.KeyFrameLineWidth: 1 Viewer.GraphLineWidth: 0.9 Viewer.PointSize: 2 Viewer.CameraSize: 0.08 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -1.8 Viewer.ViewpointF: 500