I have an inverted custom setup where my OV7251 stereo cameras are mounted upside-down, as pictured below.
Setup Diagram: (By the way, is this really how L/R pairs are? Seems weird to me. I concluded this based on error responses I got from the calibration process.)
Strangely, in the web portal, my stereo_front camera feeds display as being right-side up, while my stereo_rear camera feeds are flipped upside-down.
Conversely, when I look at my voa_pc_out pointcloud, the cloud coming from the stereo_front cameras appears to be inverted and the stereo_rear cameras appear to be oriented correctly (matching what I expect based on the VOXL2 board's reference frame).
This leads me to think that my stereo_rear cameras are actually configured correctly. The image outputs are upside-down because that's what they are in reality, and the vision-hub is correctly processing that based on the configured extrinsics to output a correctly oriented pointcloud.
My Extrinsics File:
I've looked over my extrinsics file a few times to look for rotation matrix errors, but I don't see anything wrong and it passes the camera calibration process with flying colors. Am I missing something?
I also looked and found this thread from a few weeks ago that instructs on swapping some files in /usr/bin/camera that might fix my problem. However, I still have confusion due to my front and rear stereo pairs exhibiting different behavior. Should I replace all my com.qti.sensor.ov7251_combo files with their _flip alternates or just the ones related to my front or rear stereo pair?
After I swap files, I'm guessing that I then need to redo the rotation matrixes related to that stereo pair?
My /usr/lib/camera directory:
Any help here is extremely appreciated. I can give more details as well. Thank you!