Module utils.py¶
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class
utils.Sequence(configparams)[source]¶ Parameters: - configparams : dict
Configuration parameters. This dictionary contains information about necessary files directories, as well as the values for various parameters used by the system.
Attributes: - height : int
height of the camera (important for intrinsic matrix).
- width : int
width of the camera (important for intrinsic matrix).
- K : numpy matrix, type float32
Matrix with shape [3, 3] representing the intrinsic matrix of the camera.
- Rs : list of numpy matrix, type float32
List of numpy matrices with shape [3, 3] representing the rotations of the camera during the sequence.
- Ts : list of numpy matrix, type float32
List of numpy matrices with shape [1, 3] representing the translations of the camera during the sequence.
- I : list of numpy arrays, type float32
List of numpy arrays with shape [h,w,3], representing the images in the sequence. It must be true that end - start = len(I)
- D : list of numpy arrays, optional, type uint16
List of numpy arrays with shape [h,w], containing previously estimated depth-maps of the sequence. If this parameter is passed as input then the sequence will use bundle optimization. It must be true that end - start = len(I).
Methods
use_bundle()Return if this sequence can be used for bundle optimization, that is, if it contains previously estimated depth-maps.
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utils.parse_configfile(filename)[source]¶ Parse a configuration file and return a dictionary containing the various parameters used by the system.
For a more in detail explanation of the parameters contained in the configuration file, and its format see Configuration File.
Parameters: - filename : str or unicode
Relative or absolute path to the configuration file.
Returns: - dict
Dictionary containing the system parameters. If a parameter-value pair was not in the configuration file then its value is
None.