WIP, buncha stuff that I didn't commit when I wrote it and now I'm afraid of losing something

data/calibration_result.xml

@@ -6,51 +6,51 @@
   <dt>d</dt>
   <data>
     488. 648.</data></img_shape>
-<rms>6.3901938604977060e-01</rms>
+<rms>7.3876627268710637e-01</rms>
 <cam_int type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    1.6399564573473415e+03 0. -6.5062953701584874e+01 0.
-    1.5741778806528637e+03 2.3634226604202689e+02 0. 0. 1.</data></cam_int>
+    1.5726417056187443e+03 0. 1.4574187727420562e+02 0.
+    1.5816754032205320e+03 2.4066087342652420e+02 0. 0. 1.</data></cam_int>
 <cam_dist type_id="opencv-matrix">
   <rows>1</rows>
   <cols>5</cols>
   <dt>d</dt>
   <data>
-    4.0533496459876667e-01 -7.9789330239048994e-01
-    -3.4496681677903256e-02 -1.1244970513014216e-01
-    7.0913484303897389e-01</data></cam_dist>
+    9.4803929000342360e-02 -7.4931503928649663e+00
+    2.7510446825876069e-03 -1.5574797970388680e-02
+    5.9686429523557969e+01</data></cam_dist>
 <proj_int type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    1.6483495467542737e+03 0. 3.8306162278275889e+02 0.
-    1.6326239866472497e+03 7.3044314024967093e+02 0. 0. 1.</data></proj_int>
+    1.8196441201415089e+03 0. 3.1215139179762173e+02 0.
+    1.7710473039077285e+03 6.4652482452978484e+02 0. 0. 1.</data></proj_int>
 <proj_dist type_id="opencv-matrix">
   <rows>1</rows>
   <cols>5</cols>
   <dt>d</dt>
   <data>
-    -4.7323012136273940e-01 6.1654050808332572e+00
-    -2.6533525558408575e-02 -4.8302040441684145e-02
-    -2.1030103617531569e+01</data></proj_dist>
+    4.6501355527112370e-01 -5.2653146171000911e+00
+    -3.1399879320030987e-03 -7.4973212336674019e-02
+    2.5370499794178890e+01</data></proj_dist>
 <rotation type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    9.9544319031800177e-01 2.2550253921095241e-02
-    -9.2651718265839858e-02 -3.7412411799396868e-02
-    9.8608873522691420e-01 -1.6195467792545257e-01
-    8.7710696570434246e-02 1.6468300551872025e-01 9.8243897591679974e-01</data></rotation>
+    9.9751030556985942e-01 7.9013584755337138e-03 7.0076806549434587e-02
+    -7.0415421716406692e-04 9.9476980417395522e-01
+    -1.0213981040979671e-01 -7.0517334384988042e-02
+    1.0183616861386664e-01 9.9229869510812307e-01</data></rotation>
 <translation type_id="opencv-matrix">
   <rows>3</rows>
   <cols>1</cols>
   <dt>d</dt>
   <data>
-    -5.4987956675391622e+01 3.6267509838011689e+00
-    -1.5791458092388201e+01</data></translation>
+    -3.6051053224527990e+01 -1.1530953901520501e+01
+    1.0668513452875833e+02</data></translation>
 </opencv_storage>

data/create_syn_data.py

@@ -138,7 +138,6 @@ def create_data(out_root, idx, n_samples, imsize, patterns, K, baseline, blend_i
 
         # render the scene at multiple scales
         scales = [1, 0.5, 0.25, 0.125]
-
         for scale in scales:
             fx = K[0, 0] * scale
             fy = K[1, 1] * scale
@@ -254,6 +253,7 @@ if __name__ == '__main__':
     track_length = 4
 
     # load pattern image
+    # FIXME which one????
     pattern_path = './kinect_pattern.png'
     pattern_crop = True
     patterns = get_patterns(pattern_path, imsizes, pattern_crop)

data/rectify.py

@@ -85,34 +85,42 @@ def euler_angles_from_rotation_matrix(R):
     return psi, theta, phi
 ####################################################
 
-
-print('R1:\n', R1)
-print(euler_angles_from_rotation_matrix(R1))
-print('R2:\n', R2)
-print(euler_angles_from_rotation_matrix(R2))
-print('P1:\n', P1)
-print('P2:\n', P2)
-print('Q :\n', Q)
+# print('R1:\n', R1)
+# print(euler_angles_from_rotation_matrix(R1))
+# print('R2:\n', R2)
+# print(euler_angles_from_rotation_matrix(R2))
+# print('P1:\n', P1)
+# print('P2:\n', P2)
+# print('Q :\n', Q)
+#
+#
+# print(P1.shape)
 
 pattern = cv2.imread('kinect_pattern.png')
 sampled_pattern = cv2.imread('sampled_kinect_pattern.png')
 proj_rect_map1, proj_rect_map2 = cv2.initInverseRectificationMap(
+# proj_rect_map1, proj_rect_map2=cv2.initUndistortRectifyMap(
     params['proj']['K'],
     params['proj']['dist'],
     R1,
-    # None,
     P1,
-    # (688, 488),
-    (1280, 1024),
+    (688, 488),
+    # (1280, 800),
     cv2.CV_16SC2,
 )
 
+# print(proj_rect_map1.shape, proj_rect_map2.shape)
 
-rect_pat = cv2.remap(pattern, proj_rect_map1, proj_rect_map2, cv2.INTER_LINEAR)
+samp_rect_pat = cv2.remap(sampled_pattern, proj_rect_map1, proj_rect_map2, cv2.INTER_CUBIC)
+rect_pat = cv2.remap(pattern, proj_rect_map1, proj_rect_map2, cv2.INTER_CUBIC)
 
-# FIXME rect_pat is always zero
+# print(rect_pat.shape)
+cv2.imshow('get rect', samp_rect_pat)
+cv2.waitKey()
 cv2.imshow('get rect', rect_pat)
 cv2.waitKey()
 # cv2.imshow(rect_pat2)
 cv2.waitKey()
+cv2.imwrite('rectified_sampled_pattern_new.png', samp_rect_pat)
+cv2.imwrite('rectified_pattern_new.png', rect_pat)