def load_model(modelfile, cameras, fnumber, visualize=False):
if visualize:
ex = Experiment()
ex.execute('loadmodel %s' % modelfile)
ex.execute('loadconfig')
else:
ex = DummyExperiment()
ex.model, ex.tasks = YAMLParser(modelfile).experiment
# situate cameras on a side of the laser
for camera in cameras:
if ex.model[camera[0]].pose.T.y < \
ex.model[ex.model.active_laser].pose.T.y:
ex.model[camera[0]].negative_side = True
else:
ex.model[camera[0]].negative_side = False
# disable unspecified cameras
for camera in ex.model.cameras:
if not camera in [c[0] for c in cameras]:
ex.model[camera].active = False
# load lens lookup tables
lut = []
for camera in cameras:
lut.append(LensLUT(camera[1], fnumber))
return ex, lut
