Function print_intrinsic_info

utils/visualize_tracking.py:252–282

Print intrinsic calibration information.

(intrinsic: dict)

def print_intrinsic_info(intrinsic: dict):
    """Print intrinsic calibration information."""
    print("\n=== Intrinsic Calibration Info ===")
    
    device_name = intrinsic.get("deviceName", "Unknown")
    is_stereo = intrinsic.get("isStereo", False)
    print(f"Device: {device_name} ({'Stereo' if is_stereo else 'Mono'})")
    
    left = intrinsic.get("leftIntrinsics")
    if left:
        print(f"\nLeft Camera Intrinsics:")
        print(f"  Resolution: {left.get('imageWidth', 'N/A')}x{left.get('imageHeight', 'N/A')}")
        print(f"  Focal length: fx={left.get('fx', 0):.2f}, fy={left.get('fy', 0):.2f}")
        print(f"  Principal point: cx={left.get('cx', 0):.2f}, cy={left.get('cy', 0):.2f}")
        dist = left.get('distortionCoeffs', [])
        if dist:
            print(f"  Distortion: [{', '.join(f'{d:.4f}' for d in dist[:5])}]")
        print(f"  Reproj error: {left.get('reprojectionError', 0):.4f} px")
    
    right = intrinsic.get("rightIntrinsics")
    if right:
        print(f"\nRight Camera Intrinsics:")
        print(f"  Resolution: {right.get('imageWidth', 'N/A')}x{right.get('imageHeight', 'N/A')}")
        print(f"  Focal length: fx={right.get('fx', 0):.2f}, fy={right.get('fy', 0):.2f}")
        print(f"  Principal point: cx={right.get('cx', 0):.2f}, cy={right.get('cy', 0):.2f}")
        dist = right.get('distortionCoeffs', [])
        if dist:
            print(f"  Distortion: [{', '.join(f'{d:.4f}' for d in dist[:5])}]")
        print(f"  Reproj error: {right.get('reprojectionError', 0):.4f} px")
    
    print("=" * 35)


def print_extrinsic_info(extrinsic: dict):