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To load camera calibration matrix like this:

%YAML:1.0
---
image_width: 4000
image_height: 3000
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 3.1943912478853654e+03, 0., 1.9850941722590378e+03, 0.,
       3.2021356095317910e+03, 1.5509955246019449e+03, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [ 1.3952810090687282e-01, -3.8313647492178071e-01,
       5.0555840762660396e-03, 2.3753464602670597e-03,
       3.3952514744179502e-01 ]

I use code like this:

import cv2
fs = cv2.FileStorage("./calib_asus_chess/cam_calib_asus.yml", cv2.FILE_STORAGE_READ)
fn = fs.getNode("camera_matrix")
print(fn.mat())

And it gives me:

[[  3.19439125e+03   0.00000000e+00   1.98509417e+03]
 [  0.00000000e+00   3.20213561e+03   1.55099552e+03]
 [  0.00000000e+00   0.00000000e+00   1.00000000e+00]]