import pickle


def load(fileName):
    """ 
    Calibration parameters for previously connected cameras are loaded from a pickle file format.
    Calibration parameters for each camera include a 4x4 transformation matrix and rmsd error of calibration 

    Parameters
    ----------
    fileName : str
        Filename of stored calibration parameters.

    Returns
    -------
    devicesTransformation : dict
        Keys of camera's serial number holding dictionary of calibration parameters per camera

    Example
    -------
    load('savedCalibration.cal')
    """
    with open(fileName,'rb') as f:
        devicesTransformation = pickle.load(f)
    return devicesTransformation