单目鸟瞰生成显示

yaml/right.yaml

@@ -1,10 +1,5 @@
 %YAML:1.0
 ---
-resolution: !!opencv-matrix
-   rows: 2
-   cols: 1
-   dt: i
-   data: [ 1920, 1080 ]
 camera_matrix: !!opencv-matrix
    rows: 3
    cols: 3
@@ -17,3 +12,27 @@ dist_coeffs: !!opencv-matrix
    dt: d
    data: [ -1.8724887233075402e-02, 6.4408558584901701e-03,
        -5.2069636709412993e-03, 8.4815411645490968e-04 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1920, 1080 ]
+   
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -4.5788125154634862e-01, -2.4847281172116515e+00,
+       1.1901356339453334e+03, 7.0190114936088524e-02,
+       -2.2880693827869965e+00, 1.0012772462548877e+03,
+       1.4549566908718078e-04, -3.4392525895003334e-03, 1. ]
+scale_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ 6.99999988e-01, 8.00000012e-01 ]
+shift_xy: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: f
+   data: [ -80., -200. ]