读、写相机内参、外参

bool Load_OpenCV_Camera_Intrinsic(const std::string &intrinsics_yaml) { cv::FileStorage fs(intrinsics_yaml, cv::FileStorage::READ); if(!fs.isOpened()){ std::cout<<"Err: can't open camera intrinsic file:"<> mCamera_Model; fs["K"] >> K; fs["D"] >> D; fs.release(); cv::cv2eigen(K, mCamIntri); cv::cv2eigen(D, mDistCoeffs); return true; } bool Load_Camera_Intrinsic(const std::string &file) { std::vector K; std::vector D; try{ YAML::Node config = YAML::LoadFile(file); K = config["K"].as>(); D = config["D"].as>(); mCamera_Model = config["distortion_model"].as(); }catch(const YAML::Exception& e){ std::cout <<"load intrinsic: " <= 201703L if(!std::filesystem::exists(time_now)) \#else struct stat data; if(0!=stat(time_now.c_str(), &data) || (data.st_mode & S_IFMT)!=S_IFDIR) \#endif { std::cout<<"ERR: path:"<

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