convert intrinsic parameters of see3cam so as to conform 720p to 1080p

convert_see3cam_toml_720p_to_1080p.py

import os
import toml 
import click
from collections import OrderedDict
from ruamel import yaml # "import yaml" cannot deal with nested list
import pdb
import copy

SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))

@click.command()
@click.option('--toml-path', '-t', default='{}/../cfg/camera_parameter.toml'.format(SCRIPT_DIR))
def main(toml_path):
    toml_base_name = os.path.basename(toml_path)[:-5]
    toml_dir = os.path.dirname(toml_path)

    decoder = toml.TomlDecoder(_dict=OrderedDict)
    encoder = toml.TomlEncoder(_dict=OrderedDict)
    toml_params = toml.load(open(toml_path), _dict=OrderedDict, decoder=decoder)

    cx_720p = toml_params["Rgb"]["cx"]
    cy_720p = toml_params["Rgb"]["cy"]
    diff_x = cx_720p - 1280.0/2
    diff_y = cy_720p - 720.0/2

    toml_params_1080p = copy.deepcopy(toml_params)
    toml_params_1080p["Rgb"]["cx"] = 1920/2.0 + diff_x
    toml_params_1080p["Rgb"]["cy"] = 1080/2.0 + diff_y
    toml_params_1080p["Rgb"]["width"] = 1920
    toml_params_1080p["Rgb"]["height"] = 1080

    toml_path_1080p = os.path.join(toml_dir, toml_base_name + "_1080p.toml")
    with open(toml_path_1080p, "w") as f:
        toml.encoder.dump(toml_params_1080p, f)
        print("generated")

if __name__ == "__main__":
    main()