generate and reload camera parameter matrix

[jacknlliu]

We follow the YAML configuration file format from ros-drivers/video_stream_opencv.

The format of the file camera_calibration.yaml:

image_width: 1280
image_height: 960
camera_name: "0800461000822014"
camera_matrix:
  rows: 3
  cols: 3
  data: [2302.59, 0, 610.756, 0, 2309.46, 506.539, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.225495, -0.363048, -0.000477994, -0.000132753, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [2302.59, 0, 610.756, 0, 0, 2309.46, 506.539, 0, 0, 0, 1, 0]

NOTE: The value of parameter distortion_model is fixed as plumb_bob.

TODO:

• [ ] generate the .yaml file after camera calibration, the camera_matrix parameters is what we concerned. (Here we use original python write file method to do output, not use the PyYaml module which cannot output the list as the inline mode. )
• [x] reload the .yaml file, print all the parameters and use the parameters of the camera to test.(use PyYaml module to load the calibration file.)

Reference

• PyYAML
• yaml example

[jacknlliu]

An example:

import yaml

data = dict(
    A = 'a',
    B = dict(
        C = 'c',
        D = 'd',
        E = 'e',
    )
)

with open('data.yml', 'w') as outfile:
    yaml.dump(data, outfile, default_flow_style=False)

output of file

A: a
B:
  C: c
  D: d
  E: e

Reference

• How can I write data in YAML format in a file?

[Lizmango]

how to output a list in one row in yaml documents