calibr.py 文件源码

def load_camera_from_calibr(f):
    s = open(f).read()

    y = list(yaml.load_all(s))[0]

    K0 = Camera.buildK(y['cam0']['intrinsics'])
    C0 = Camera(K0, np.eye(3), np.zeros((3,)))

    K1 = Camera.buildK(y['cam1']['intrinsics'])
    M = y['cam1']['T_cn_cnm1'][:3]
    R1 = np.asarray([k[:3] for k in M])
    t1 = np.asarray([k[3] for k in M])
    C1 = Camera(K1, R1, t1)

    dist0 = np.asarray(y['cam0']['distortion_coeffs'])
    dist1 = np.array(y['cam1']['distortion_coeffs'])
    return C0, C1, dist0, dist1