def parse_calibration(calib):
  """Parse serialiazed calibration

  Args:
    calib (np.ndarray): serialized calibration

  Returns:
    dict: parsed calibration

  """

  parsed_calib = {}
  parsed_calib["K"] = calib[:9].reshape((3, 3))
  parsed_calib["R"] = calib[9:18].reshape((3, 3))
  parsed_calib["t"] = calib[18:21].reshape(3)
  parsed_calib["imsize"] = calib[21:23].reshape(2)
  parsed_calib["K_inv"] = calib[23:32].reshape((3, 3))
  return parsed_calib