dataProcessing.py 文件源码

def getCalibMatrix(dataPath, frameNum):
    # load calibration data
    # P0, P1, P2, P3, Tr_velo_to_cam, Tr_imu_to_velo
    pathCalib = dataPath+'calib/{:0>6}.txt'.format(frameNum)
    P_left = np.genfromtxt(pathCalib,dtype=None,usecols=range(1,13),skip_header=2,skip_footer=4).reshape(3,4) # 4x4
    rect_3x3 = np.genfromtxt(pathCalib,dtype=None,usecols=range(1,10),skip_header=4,skip_footer=2).reshape(3,3) # 3x3
    velo2cam_3x4 = np.genfromtxt(pathCalib,dtype=None,usecols=range(1,13),skip_header=5,skip_footer=1).reshape(3,4) # 4x4

    rect = np.eye(4)
    velo2cam = np.eye(4)

    rect[:3,:3] =rect_3x3
    velo2cam[:3, :3]  = velo2cam_3x4[:3,:3]
    velo2cam[:3, 3] = velo2cam_3x4[:3, 3]

    return {'P_left':P_left,'rect':rect,'velo2cam':velo2cam}