def calib_read(fn, scale):
db = AttrDict.load_yaml(fn)
P0 = np.float32(db[calib_left].split(' '))
P1 = np.float32(db[calib_right].split(' '))
fx, cx, cy = P0[0], P0[2], P0[6]
baseline_px = np.fabs(P1[3])
return StereoCamera.from_calib_params(fx, fx, cx, cy, baseline_px=baseline_px)
def load(cls, filename):
db = AttrDict.load_yaml(filename)
shape = np.int32([
db.width, db.height
]) if hasattr(db, 'width') and hasattr(db, 'height') else None
return cls.from_calib_params(db.fx,
db.fy,
db.cx,
db.cy,
k1=db.k1,
k2=db.k2,
k3=db.k3,
p1=db.p1,
p2=db.p2,
shape=shape)
def load(cls, filename):
db = AttrDict.load_yaml(filename)
return cls(R=np.float64(db.R), t=np.float64(db.t))
