Get calibration matrixs of a certain kinect camera by its type and id Args: Camera_group (str): Camera_group in ['Kinect']. Camera_id (int/str of a number): CameraID(str) in {'Kinect': '0'~'7'} Returns: Dictionary
(self, Camera_id)
| 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 |
| 160 | |
| 161 | Args: |
| 162 | Camera_group (str): |
| 163 | Camera_group in ['Kinect']. |
| 164 | Camera_id (int/str of a number): |
| 165 | CameraID(str) in {'Kinect': '0'~'7'} |
| 166 | Returns: |
| 167 | Dictionary of calibration matrixs. |
| 168 | ['D', 'K', 'RT'] |
| 169 | """ |
| 170 | if not 'Calibration' in self.smc: |
| 171 | print("=== no key: Calibration.\nplease check available keys!") |
| 172 | return None |
| 173 | |
| 174 | Camera_id = f'{int(Camera_id):02d}' |
| 175 | assert(Camera_id in self.smc['Calibration']["Kinect"].keys()) |
| 176 | rs = dict() |
| 177 | for k in ['D', 'K', 'RT']: |
| 178 | rs[k] = self.smc['Calibration']["Kinect"][Camera_id][k][()] |
| 179 | return rs |
| 180 | |
| 181 | ### RGB image |
| 182 | def __read_color_from_bytes__(self, color_array): |
nothing calls this directly
no outgoing calls
no test coverage detected