Get calibration matrix of all kinect cameras and save it in self Args: None Returns: Dictionary of calibration matrixs of all matrixs. dict( Camera_group: Camera_id : Matrix_type : value ) Noti
(self)
| 123 | |
| 124 | ### Kinect Camera Calibration |
| 125 | def get_Kinect_Calibration_all(self): |
| 126 | """Get calibration matrix of all kinect cameras and save it in self |
| 127 | |
| 128 | Args: |
| 129 | None |
| 130 | |
| 131 | Returns: |
| 132 | Dictionary of calibration matrixs of all matrixs. |
| 133 | dict( |
| 134 | Camera_group: Camera_id : Matrix_type : value |
| 135 | ) |
| 136 | Notice: |
| 137 | Camera_group(str) in ['Kinect'] |
| 138 | Camera_id(str) in {'Kinect': '0'~'7'} |
| 139 | Matrix_type in ['D', 'K', 'RT'] |
| 140 | """ |
| 141 | if not 'Calibration' in self.smc: |
| 142 | print("=== no key: Calibration.\nplease check available keys!") |
| 143 | return None |
| 144 | |
| 145 | if self.__kinect_calib_dict__ is not None: |
| 146 | return self.__kinect_calib_dict__ |
| 147 | |
| 148 | self.__kinect_calib_dict__ = dict() |
| 149 | for cg in ['Kinect']: |
| 150 | self.__kinect_calib_dict__.setdefault(cg,dict()) |
| 151 | for ci in self.smc['Calibration'][cg].keys(): |
| 152 | self.__kinect_calib_dict__[cg].setdefault(ci,dict()) |
| 153 | for mt in ['D', 'K', 'RT'] : |
| 154 | self.__kinect_calib_dict__[cg][ci][mt] = \ |
| 155 | self.smc['Calibration'][cg][ci][mt][()] |
| 156 | return self.__kinect_calib_dict__ |
| 157 | |
| 158 | def get_kinect_Calibration(self, Camera_id): |
| 159 | """Get calibration matrixs of a certain kinect camera by its type and id |
nothing calls this directly
no outgoing calls
no test coverage detected