OpenCV YAML

cv3x3__to__4x4.py

import cv2
import numpy as np




def convert_3x3_1x1__to__4x4(fname, outfname, outvarname ):
    ## READ YAML OPENCV
    print( 'fname: ', fname )
    fs = cv2.FileStorage(fname, cv2.FILE_STORAGE_READ)
    R = fs.getNode("extrinsicRotation").mat()
    t = fs.getNode("extrinsicTranslation").mat()
    print(R )
    print(t )

    T = np.eye( 4, 4 )
    T[0:3,0:3] = R
    T[0:3,3:4] = t

    ## WRITE YAML OPENCV
    print('Write file: ', outfname, '\t outvarname=',outvarname )
    cv_file = cv2.FileStorage(outfname, cv2.FILE_STORAGE_WRITE)
    cv_file.write(outvarname, T)
    cv_file.release()

    return R, t



#fname ="./output/1_ext.csv"
convert_3x3_1x1__to__4x4( "./output/1_ext.csv", "./output/1_ext.csv.yaml",  'body_T_cam0' )
convert_3x3_1x1__to__4x4( "./output/2_ext.csv", "./output/2_ext.csv.yaml",  'body_T_cam1' )