stereo_utils.py 文件源码

def setup_ps3eye_dataset(filename, start_idx=0, max_length=None, every_k_frames=1, scale=1): 
    dataset = stereo_dataset(filename=filename, 
                             channel='CAMERA', start_idx=start_idx, max_length=max_length, 
                             every_k_frames=every_k_frames, scale=scale, split='horizontal')

    # Setup one-time calibration
    calib_params = setup_ps3eye(scale=scale)
    dataset.calib = calib_params
    dataset.scale = scale
    return dataset


# def bumblebee_stereo_calib_params_ming(scale=1.0): 
#     fx, fy = 809.53*scale, 809.53*scale
#     cx, cy = 321.819*scale, 244.555*scale
#     baseline = 0.119909
#     return get_calib_params(fx, fy, cx, cy, baseline=baseline)

# def bumblebee_stereo_calib_params(scale=1.0): 
#     fx, fy = 0.445057*640*scale, 0.59341*480*scale
#     cx, cy = 0.496427*640*scale, 0.519434*480*scale
#     baseline = 0.120018 
#     return get_calib_params(fx, fy, cx, cy, baseline=baseline)