Hi!
I want to get the point cloud from the stereo imagery using the voxl-dfs-server. I have calibrated the stereo camera using the instructions given here. The calibration procedure was successful and it generated the left.yaml, right.yaml and calibration_stereo.xml files. However, it did not generate the opencv_stereo_extrinsics.yml and opencv_stereo_intrinsics.yml files. I could not find anywhere on the docs any instructions to generate these files. So I had to write them myself taking information from ost.txt. Here are the two files that I wrote:
- opencv_stereo_extrinsics.yml
%YAML:1.0
R1: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 0.999731, -0.005262, -0.022599,
0.005377, 0.999973, 0.005039,
0.022572, -0.005159, 0.999732]
P1: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [527.372271, 0.000000, 331.544373, 0.000000,
0.000000, 527.372271, 240.925325, 0.000000,
0.000000, 0.000000, 1.000000, 0.000000]
R2: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.998424, 0.024289, -0.050596,
-0.024547, 0.999689, -0.004480,
0.050471, 0.005715, 0.998709]
P2: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [527.372271, 0.000000, 331.544373, -42.405281,
0.000000, 527.372271, 240.925325, 0.000000,
0.000000, 0.000000, 1.000000, 0.000000]
- opencv_stereo_intrinsics.yml
M1: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [488.682800, 0.000000, 321.505138,
0.000000, 489.299446, 232.298091,
0.000000, 0.000000, 1.000000]
D1: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [-0.171999, 0.074949, 0.001013, -0.001734, 0.000000]
M2: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 500.025405, 0.000000, 290.363517,
0.000000, 500.227973, 248.074606,
0.000000, 0.000000, 1.000000]
D2: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [-0.194946, 0.140224, 0.001638, 0.000149, 0.000000]
Then I pushed these files to the VOXL using ./push_stereo_cal_to_voxl.sh
However, when I run the voxl-dfs-server on the VOXL I get the following output 
I am suspicious of my .yml files that I generated. Do you have any working .yml files that I can use as template and change values for my system.
Please let me know how can I debug this and get the point cloud from the stereo imagery with dfs-server.
Output of voxl-version FYI: 
Please let me know if any other information is needed. I'd appreciate any insight into solving this.
Thanks
Prasad
