Image Rectification Using camera intrinsic and extrinsic parameters - opencv

Question

I want to rectify stereo images using intrinsic and extrinsic camera parameters that obtained from photomodeler software.
I wrote the code (modifying this link https://gist.github.com/anonymous/6586653) and I determined the relative rotation and translation parameters , but when I input the images the obtained results is not as expected although I tried to find the error but I couldn't.
your help is really appreciated:
the input images are:
I couldn't load all the images therefore I have put this link regarding the images and the results:
https://www.dropbox.com/s/5tmj9rk91tkrot4/RECTIFICATION_TEST_DATA.docx?dl=0
the code is
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
#include <iomanip>
#include<opencv2/opencv.hpp>
#include <iostream>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <fstream>
using namespace std;
using namespace cv;
int main(int argc, char** argv)
{
// Mat img1 = imread("E:\\12_0628.tif", 1);
// Mat img2 = imread("E:\\12_0629.tif", 1);
Mat img1 = imread("E:\\DSC_0483.JPG");
Mat img2 = imread("E:\\DSC_0484.JPG");
//EXTERIOR OREINTATION FOR THE 1ST IMAGE
double omega1 = -172.672440, phi1 = -80.168311, kappa1 = 163.005082, tx1 = -35.100000, ty1 = -56.700000, tz1 = -59.300000;
//EXTERIOR OREINTATION FOR THE 2ND IMAGE
double omega2 = 27.576999, phi2 = -67.089920, kappa2 = 2.826051, tx2 = -37.600000, ty2 = -18.600000, tz2 = -41.700000;
//Rotation matrices of the 1st image
omega1 = omega1 * CV_PI / 180.;
phi1 = phi1 * CV_PI / 180.;
kappa1 = kappa1 * CV_PI / 180.;
omega2 = omega2 * CV_PI / 180.;
phi2 = phi2 * CV_PI / 180.;
kappa2 = kappa2 * CV_PI / 180.;
Mat RX1 = (Mat_<double>(3, 3) <<
1, 0, 0,
0, cos(omega1), sin(omega1),
0, -sin(omega1), cos(omega1));
Mat RY1 = (Mat_<double>(3, 3) <<
cos(phi1), 0, -sin(phi1),
0, 1, 0,
sin(phi1), 0, cos(phi1));
Mat RZ1 = (Mat_<double>(3, 3) <<
cos(kappa1), sin(kappa1), 0,
-sin(kappa1), cos(kappa1), 0,
0, 0, 1);
// Composed rotation matrix with (RX, RY, RZ)
Mat R1 = RX1 * RY1 * RZ1;
Mat T1 = (Mat_<double>(3, 1) <<
tx1,
ty1,
tz1);
/////////////////////Rotation matrices of the 2nd image//////////////////////////////////////////
//Rotation matrices of the 1st image
Mat RX2 = (Mat_<double>(3, 3) <<
1, 0, 0,
0, cos(omega2), sin(omega2),
0, -sin(omega2), cos(omega2));
Mat RY2 = (Mat_<double>(3, 3) <<
cos(phi2), 0, -sin(phi2),
0, 1, 0,
sin(phi2), 0, cos(phi2));
Mat RZ2 = (Mat_<double>(3, 3) <<
cos(kappa2), sin(kappa2), 0,
-sin(kappa2), cos(kappa2), 0,
0, 0, 1);
// Composed rotation matrix with (RX, RY, RZ)
Mat R2 = RX2 * RY2 * RZ2;
Mat T2 = (Mat_<double>(3, 1) <<
tx2,
ty2,
tz2);
/////////////////////////////////////////////////////////////
double f = 2284.;// the focal length of the camera nikon D40, this is equivalant to 18mm
double w = (double)img1.cols;
double h = (double)img1.rows;
Mat M = (Mat_<double>(3, 3) <<//camera matrix
f , 0. , w/2,
0. , f , h/2,
0. , 0. , 1.);
Mat D = (Mat_<double>(5, 1) <<// distortion coefficicents
0,
0,
0,
0,
0.
);
Mat R1inv = R1.inv();
Mat Rrel = R2 * R1inv;
Mat Trel = (-1 * Rrel) * T1+ T2;
Mat T = (Mat_<double>(3, 1) <<//translation matrix
-2376.6,
-740.0,
229.0);
cout << img1.size() << endl;
cout << img2.size() << endl;
//Mat R1, R2,
Mat P1, P2, Q;
stereoRectify(M, D, M, D, img1.size(), Rrel, Trel, //the input data
R1, R2, P1, P2, Q);//the output data
Mat map1x, map1y, map2x, map2y;
Mat imgdst1, imgdst2;
// Size (flaot)imageSize;
// imageSize = img1.size();
initUndistortRectifyMap(M, D, R1, P1, img1.size(), CV_32FC1, map1x, map1y);
initUndistortRectifyMap(M, D, R2, P2, img1.size(), CV_32FC1, map2x, map2y);
remap(img1, imgdst1, map1x, map1y, INTER_LINEAR, BORDER_CONSTANT, Scalar());
remap(img2, imgdst2, map2x, map2y, INTER_LINEAR, BORDER_CONSTANT, Scalar());
namedWindow("image1");
namedWindow("image2");
imshow("image1", imgdst1);
imshow("image2", imgdst2);
// imwrite("DSC_0906_rect.jpg", imgdst1);
// imwrite("DSC_0913_rect.jpg", imgdst2);
imwrite("E:\\Researches\\2016-2017_res\\2_8_epipolar_geometry\\temp_image\\output1.bmp", imgdst1);
imwrite("E:\\Researches\\2016-2017_res\\2_8_epipolar_geometry\\temp_image\\output2.bmp", imgdst2);
waitKey();
return 0;
}