def load_config(yaml_file):
config = OmegaConf.load(yaml_file)
aruco_params = config.get('aruco_params', {})
boards = {k:OmegaConf.merge(config.common, board) for k, board in config.boards.items()} if 'common' in config\
else config.boards
def instantiate_board(config):
if config._type_ == "charuco":
schema = OmegaConf.structured(CharucoConfig)
return CharucoBoard(aruco_params=aruco_params,
**merge_schema(config, schema))
elif config._type_ == "aprilgrid":
schema = OmegaConf.structured(AprilConfig)
return AprilGrid(**merge_schema(config, schema))
else:
assert False, f"unknown board type: {config._type_}, options are (charuco | aprilgrid | checkerboard)"
return {k: instantiate_board(board) for k, board in boards.items()}
def merge_schema(config, schema):
merged = OmegaConf.merge(schema, config)
return struct(**merged)._without('_type_')
