calib package

Submodules

calib.file_io module

class calib.file_io.FileIO(cfg: dict)

Bases: object

Class for handling file input/output operations related to calibration files.

close()

Stop the asynchronous read thread.

get_abs_path(idx: int)

Get the absolute path of the calibration file at the specified index.

Args:

idx (int): Index of the calibration file.

Returns:

str: Absolute path of the calibration file.

Module contents

The calib package manages calibration file handlers for reading calibration files. The file_io.py module should not be modified except for contributions to the framework application logic.

### Creating a New Calibration File Handler:

To create a new calibration file handler:

1. Create a new Python file named handler_<clb_type>.py in the calib directory.

2. Replace <clb_type> with the specific type of calibration file (e.g., lidar, camera, etc.).

3. The clb_type is passed from config.yml under data:calib:clb_type and is used to select the appropriate handler.

### Handler File Structure:

The handler file should contain the following elements:

```python # handler_<clb_type>.py

import os

# Extension for calibration files handled by this handler calib_file_extension = ‘.txt’

def Handler(calib_path: str):

‘’’ Loads calibration data from the specified file path and returns it as a dictionary containing P2, R0_rect, and Tr_velo_to_cam.

Args:

calib_path (str): The path to the calibration file.

Returns:

dict: A dictionary containing the calibration data.

‘’’

# Check if the calibration file exists if not os.path.exists(calib_path):

return None

calib = {}

# Read the calibration file and populate the calib dictionary with open(calib_path) as f:

pass # read the calibration file and populate the calib dictionary

# Reshape matrices to required shapes calib[‘P2’] = calib[‘P2’].reshape(3, 4) # P2 must be reshaped to 3x4 calib[‘R0_rect’] = calib[‘R0_rect’].reshape(3, 3) # R0_rect must be reshaped to 3x3 calib[‘Tr_velo_to_cam’] = calib[‘Tr_velo_to_cam’].reshape(3, 4) # Tr_velo_to_cam must be reshaped to 3x4

return calib

```