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import yaml
import sys
import argparse
import numpy as np
def get_camera_intrinsics(calibration_yaml, cam_name):
with open(calibration_yaml, 'r') as file:
data = yaml.safe_load(file)
cameras = data.get('cameras', [])
for cam_ in cameras:
if cam_['cam_name'] == cam_name:
cam = cam_;
break;
has_dist = ('distortion_type' in cam) and ('distortion_coefficients' in cam)
K = np.array([[cam['focal_length'][0], 0, cam['principal_point'][0]],
[0, cam['focal_length'][1], cam['principal_point'][1]],
[0, 0, 1]], dtype=np.float32)
if has_dist:
dist= " ".join(map(str, cam['distortion_coefficients']))
print(f"{cam['distortion_type']} {K[0,0]} {K[1,1]} {K[0,2]} {K[1,2]} {dist}")
else:
print(f"{cam['cam_model']} {K[0,0]} {K[1,1]} {K[0,2]} {K[1,2]}")
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("calibration_yaml", help="Path to the calibration YAML")
parser.add_argument("camera_name", help="camera_name")
args = parser.parse_args()
get_camera_intrinsics(args.calibration_yaml, args.camera_name) |