lib/utils/snapshot_data_utils.py

import pickle
import numpy as np


def read_pickle(pkl_path):
    with open(pkl_path, 'rb') as f:
        u = pickle._Unpickler(f)
        u.encoding = 'latin1'
        return u.load()


def get_camera(camera_path):
    camera = read_pickle(camera_path)
    K = np.zeros([3, 3])
    K[0, 0] = camera['camera_f'][0]
    K[1, 1] = camera['camera_f'][1]
    K[:2, 2] = camera['camera_c']
    K[2, 2] = 1
    R = np.eye(3)
    T = np.zeros([3])
    D = camera['camera_k']
    camera = {'K': K, 'R': R, 'T': T, 'D': D}
    return camera