环视运行

getimg.py

@@ -0,0 +1,131 @@
+# 相机参考工具
+# @路怀帅 2025.12.19 10:32am 
+# PS : 新增 加载相机畸变KD 视频对比显示功能
+
+import cv2
+import threading
+import sys
+from datetime import datetime
+import os
+import argparse
+import numpy as np
+
+# 全局变量
+frame = None
+running = True
+which_camera = 0
+
+# Front 参数
+K = np.array([[ 5.3382445956203196e+02, 0., 9.7253025945442369e+02],
+            [0., 5.3393792084343488e+02, 5.6249605531924215e+02],
+            [ 0., 0., 1. ]])
+D = np.array([ -1.5749135021037808e-02, 2.9390620422222835e-03,
+       -4.3176357910129585e-03, 1.3296605027646462e-03 ])
+
+# 加载鱼眼相机参数
+
+W, H = 1920, 1080
+
+
+
+def video_thread():
+    global frame, running
+    cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY)
+    cap.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc(*"YUYV"))
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
+    # cap.set(cv2.CAP_PROP_FPS, 30)
+
+    if not cap.isOpened():
+        print("[ERROR] Cannot open camera", file=sys.stderr)
+        running = False
+        return
+    # 鱼眼相机去畸变
+    map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2)
+
+    while running:
+        ret, f = cap.read()
+        if not ret:
+            break
+        frame = f.copy()
+
+        # 图像去畸变
+        undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT)
+        # 拼接原视频和抗畸变后的视频 （左右显示）
+        comparison = np.hstack((f, undistorted))
+
+        scale = min(1920 / comparison.shape[1], 1080 / comparison.shape[0])
+        if scale < 1:
+            comparison = cv2.resize(comparison, (int(comparison.shape[1] * scale), int(comparison.shape[0] * scale)))
+        comparison = comparison.astype(np.uint8) 
+
+        # 设置视频流全屏显示
+        text_info = f"Camera: {args.i.upper()}  |  Press 'q' to quit, 's' to screenshot"
+        cv2.putText(comparison, text_info, (10, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2, cv2.LINE_AA)
+
+        cv2.namedWindow('Video old vs new', cv2.WND_PROP_FULLSCREEN)
+        cv2.setWindowProperty('Video old vs new', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
+        cv2.imshow('Video old vs new', comparison)
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            running = False
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+def input_thread():
+    global running
+    print("Commands: 's' = screenshot, 'q' = quit")
+    while running:
+        try:
+            cmd = input().strip().lower()
+            if cmd == 's':
+                if frame is not None:
+                    filename = f"./images/{args.i.lower()}.png"
+                    cv2.imwrite(filename, frame)
+                    print(f"[SSH] Saved: {os.path.abspath(filename)}")
+                else:
+                    print("[SSH] No frame available yet.")
+            elif cmd == 'q':
+                running = False
+                break
+            else:
+                print("[SSH] Unknown command. Use 's' or 'q'.")
+        except EOFError:
+            break
+
+if __name__ == "__main__":
+
+    # 获取用户参数启动
+    parser = argparse.ArgumentParser(description="Example script with argparse")
+
+    # 获取用户输入的摄像头方位 （front back left right）
+    parser.add_argument("--i", type=str, required=True, help="摄像头方位")
+
+    args = parser.parse_args()
+
+    print("相机方位:", args.i)
+
+    if args.i == "front":
+        which_camera = 0
+    elif args.i == "back":
+        which_camera = 2
+    elif args.i == "left":
+        which_camera = 1
+    elif args.i == "right":
+        which_camera = 3
+    else:
+        print("[ERROR] Invalid camera direction. Use 'front', 'back', 'left', or 'right'.", file=sys.stderr)
+        running = False
+        exit(1)
+
+    # 启动视频线程
+    vt = threading.Thread(target=video_thread, daemon=True)
+    vt.start()
+
+    # 主线程监听 SSH 输入
+    input_thread()
+
+    print("[INFO] Exiting...")

run_get_weight_matrices.py

@@ -23,13 +23,30 @@ def main():
     birdview = BirdView()
     Gmat, Mmat = birdview.get_weights_and_masks(projected)
     birdview.update_frames(projected)
-    birdview.make_luminance_balance().stitch_all_parts()
+    # birdview.make_luminance_balance().stitch_all_parts()
+    birdview.stitch_all_parts()
     birdview.make_white_balance()
     birdview.copy_car_image()
-    ret = display_image("BirdView Result", birdview.image)
+    img_samll = cv2.resize(birdview.image,(320,600))
-    if ret > 0:
+    cv2.imshow("BirdView Result", img_samll)
-        Image.fromarray((Gmat * 255).astype(np.uint8)).save("weights.png")
+    while True:
-        Image.fromarray(Mmat.astype(np.uint8)).save("masks.png")
+        key = cv2.waitKey(1) & 0xFF
+        if key == ord("q"):
+            return -1
+        # cv2.waitKey(1)
+        # cmd = input().strip().lower()
+        # if cmd == 'q':
+        #     cv2.destroyAllWindows()
+        #     return -1
+
+
+
+    # birdview.copy_car_image()
+    # ret = display_image("BirdView Result", birdview.image)
+
+    # if ret > 0:
+    #     Image.fromarray((Gmat * 255).astype(np.uint8)).save("weights.png")
+    #     Image.fromarray(Mmat.astype(np.uint8)).save("masks.png")
 
 
 if __name__ == "__main__":

saveimg.py

@@ -1,7 +1,3 @@
-# 相机参考工具
-# @路怀帅 2025.12.19 10:32am 
-# PS : 新增 加载相机畸变KD 视频对比显示功能
-
 import cv2
 import threading
 import sys
@@ -16,38 +12,57 @@ running = True
 which_camera = 0
 W, H = 1920, 1080   # 相机分辨率
 
-# 加载鱼眼相机参数
+def load_camera_params(camera_name):
+    """
+    从YAML文件加载相机参数
+    """
+    yaml_file = os.path.join("yaml", f"{camera_name}.yaml")
     
-# Front 参数
+    if not os.path.exists(yaml_file):
-# K = np.array([[ 5.3382445956203196e+02, 0., 9.7253025945442369e+02],
+        raise FileNotFoundError(f"YAML file not found: {yaml_file}")
-#             [0., 5.3393792084343488e+02, 5.6249605531924215e+02],
-#             [ 0., 0., 1. ]])
     
-# D = np.array([ -1.5749135021037808e-02, 2.9390620422222835e-03,
+    # 使用OpenCV读取YAML文件
-#        -4.3176357910129585e-03, 1.3296605027646462e-03 ])
+    fs = cv2.FileStorage(yaml_file, cv2.FILE_STORAGE_READ)
     
-# Right 参数
+    # 读取相机内参矩阵
-K = np.array([[5.3402108990030604e+02, 0., 9.2598444295282172e+02], 
+    camera_matrix = fs.getNode("camera_matrix").mat()
-              [0., 5.3455325152709827e+02, 5.7771767919091610e+02],
-              [0., 0., 1.]])
-D = np.array([-1.8724887233075402e-02, 6.4408558584901701e-03,
-              -5.2069636709412993e-03, 8.4815411645490968e-04])
-# 加载透视变换参数
     
-# Right 参数
+    # 读取畸变系数
-front_proj_matrix = np.array([
+    dist_coeffs = fs.getNode("dist_coeffs").mat()
-    [-4.5788125154634862e-01, -2.4847281172116515e+00, 1.1901356339453334e+03],
-    [7.0190114936088524e-02, -2.2880693827869965e+00, 1.0012772462548877e+03],
-    [1.4549566908718078e-04, -3.4392525895003334e-03, 1.0]
-])
     
-# 这些参数在 surround_view 中用于 set_scale_and_shift
+    # 读取投影矩阵
-scale_xy = np.array([6.99999988e-01, 8.00000012e-01])  # x, y 缩放比例
+    project_matrix = fs.getNode("project_matrix").mat()
-shift_xy = np.array([-80., -200.])  # x, y 偏移量 (像素)
     
+    # 读取缩放参数
+    scale_xy_node = fs.getNode("scale_xy")
+    if scale_xy_node.empty():
+        scale_xy = np.array([1.0, 1.0])
+    else:
+        scale_xy = scale_xy_node.mat().flatten()
+    
+    # 读取偏移参数
+    shift_xy_node = fs.getNode("shift_xy")
+    if shift_xy_node.empty():
+        shift_xy = np.array([0.0, 0.0])
+    else:
+        shift_xy = shift_xy_node.mat().flatten()
+    
+    fs.release()
+    
+    return camera_matrix, dist_coeffs, project_matrix, scale_xy, shift_xy
 
 def video_thread():
     global frame, running
+    
+    # 动态加载当前摄像头的参数
+    try:
+        K, D, front_proj_matrix, scale_xy, shift_xy = load_camera_params(args.i.lower())
+        print(f"[INFO] Loaded parameters for {args.i} camera")
+    except Exception as e:
+        print(f"[ERROR] Failed to load camera parameters: {e}", file=sys.stderr)
+        running = False
+        return
+    
     cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY)
     cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV"))
     cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
@@ -58,6 +73,7 @@ def video_thread():
         running = False
         return
 
+    # 创建修改后的相机矩阵（包含缩放和平移）
     modified_camera_matrix = K.copy()
     modified_camera_matrix[0, 0] *= scale_xy[0]  # fx *= scale_x
     modified_camera_matrix[1, 1] *= scale_xy[1]  # fy *= scale_y
@@ -70,7 +86,6 @@ def video_thread():
     # 鱼眼相机仅畸变
     map3, map4 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2)
 
-
     while running:
         ret, f = cap.read()
         if not ret:
@@ -80,7 +95,6 @@ def video_thread():
         undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) 
         undistorted2 = cv2.remap(f, map3, map4, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) 
         
-       
         proj_image = cv2.warpPerspective(
             undistorted, 
             front_proj_matrix, 
@@ -89,7 +103,6 @@ def video_thread():
             borderValue=(0, 0, 0)
         )
 
-
         frame = f.copy()
         birdseye_small = cv2.resize(f, (W//2, H//2))
         undistorted2_small = cv2.resize(undistorted2, (W//2, H//2))
@@ -98,14 +111,9 @@ def video_thread():
         comparison = np.hstack((birdseye_small, undistorted2_small))
         show_video = np.vstack((comparison, proj_image))
     
-        scale = min(1920 / comparison.shape[1], 1080 / comparison.shape[0])
-        if scale < 1:
-            comparison = cv2.resize(comparison, (int(comparison.shape[1] * scale), int(comparison.shape[0] * scale)))
-        comparison = comparison.astype(np.uint8) 
-
         # 设置视频流全屏显示
         text_info = f"Camera: {args.i.upper()}  |  Press 'q' to quit, 's' to screenshot"
-        cv2.putText(comparison, text_info, (10, 30),
+        cv2.putText(show_video, text_info, (10, 30),
                     cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2, cv2.LINE_AA)
 
         cv2.namedWindow('Video old vs new', cv2.WND_PROP_FULLSCREEN)
@@ -141,12 +149,13 @@ def input_thread():
             break
 
 if __name__ == "__main__":
-
     # 获取用户参数启动
-    parser = argparse.ArgumentParser(description="Example script with argparse")
+    parser = argparse.ArgumentParser(description="Camera Parameter Loading Tool")
 
     # 获取用户输入的摄像头方位 （front back left right）
-    parser.add_argument("--i", type=str, required=True, help="摄像头方位")
+    parser.add_argument("--i", type=str, required=True, 
+                        choices=["front", "back", "left", "right"],
+                        help="Camera direction (front/back/left/right)")
 
     args = parser.parse_args()
 
@@ -165,6 +174,13 @@ if __name__ == "__main__":
         running = False
         exit(1)
 
+    # 检查YAML目录是否存在
+    yaml_dir = "yaml"
+    if not os.path.exists(yaml_dir):
+        print(f"[ERROR] YAML directory not found: {yaml_dir}", file=sys.stderr)
+        print("Please ensure YAML files are in the 'yaml' directory", file=sys.stderr)
+        exit(1)
+
     # 启动视频线程
     vt = threading.Thread(target=video_thread, daemon=True)
     vt.start()

surround_view/fisheye_camera.py

@@ -92,7 +92,7 @@ class FisheyeCameraModel(object):
             return cv2.transpose(image)[::-1]
 
         else:
-            return cv2.transpose(image)[::-1]
+            return cv2.transpose(image)[:,::-1]
 
     def save_data(self):
         fs = cv2.FileStorage(self.camera_file, cv2.FILE_STORAGE_WRITE)

surround_view/param_settings.py

@@ -6,22 +6,24 @@ camera_names = ["front", "back", "left", "right"]
 
 # --------------------------------------------------------------------
 # (shift_width, shift_height): 鸟瞰图在水平和垂直方向上超出标定图案的距离
-shift_w = 300
+shift_w = 100
-shift_h = 300
+shift_h = 100
+
 
 # 标定图案与车辆之间在水平和垂直方向上的间隙大小
 inn_shift_w = 20
-inn_shift_h = 50
+inn_shift_h = 20
 
 # 拼接图像的总宽度/高度
-total_w = 600 + 2 * shift_w
+total_w = 300 + 2 * shift_w
-total_h = 1000 + 2 * shift_h
+total_h = 350 + 2 * shift_h
 
-# 车辆所占矩形区域的四个角点
+
-# 左上角 (x_left, y_top)，右下角 (x_right, y_bottom)
+# 计算车辆在全景图中的位置
-xl = shift_w + 180 + inn_shift_w
+xl = shift_w + 45 + inn_shift_w
 xr = total_w - xl
-yt = shift_h + 200 + inn_shift_h
+print(xl, xr)
+yt = shift_h + 60 + inn_shift_h
 yb = total_h - yt
 # --------------------------------------------------------------------
 
@@ -32,29 +34,28 @@ project_shapes = {
     "right": (total_h, xl)
 }
 
-# pixel locations of the four points to be chosen.
+# 要选取的四个像素点的位置。
-# you must click these pixels in the same order when running
+# 运行 get_projection_map.py 脚本时，必须按相同顺序点击这些像素点。
-# the get_projection_map.py script
 project_keypoints = {
-    "front": [(shift_w + 120, shift_h),
+    "front": [(shift_w + 0, shift_h),
-              (shift_w + 480, shift_h),
+              (shift_w + 300, shift_h),
-              (shift_w + 120, shift_h + 160),
+              (shift_w + 0, shift_h + 60),
-              (shift_w + 480, shift_h + 160)],
+              (shift_w + 300, shift_h + 60)],
 
-    "back":  [(shift_w + 120, shift_h),
+    "back":  [(shift_w + 0, shift_h),
-              (shift_w + 480, shift_h),
+              (shift_w + 300, shift_h),
-              (shift_w + 120, shift_h + 160),
+              (shift_w + 0, shift_h + 80),
-              (shift_w + 480, shift_h + 160)],
+              (shift_w + 300, shift_h + 80)],
 
-    "left":  [(shift_h + 280, shift_w),
+    "left":  [(shift_h + 0, shift_w),
-              (shift_h + 840, shift_w),
+              (shift_h + 350, shift_w),
-              (shift_h + 280, shift_w + 160),
+              (shift_h + 0, shift_w + 50),
-              (shift_h + 840, shift_w + 160)],
+              (shift_h + 350, shift_w + 50)],
 
-    "right": [(shift_h + 160, shift_w),
+    "right": [(shift_h + 0, shift_w),
-              (shift_h + 720, shift_w),
+              (shift_h + 350, shift_w),
-              (shift_h + 160, shift_w + 160),
+              (shift_h + 0, shift_w + 50),
-              (shift_h + 720, shift_w + 160)]
+              (shift_h + 350, shift_w + 50)]
 }
 
 car_image = cv2.imread(os.path.join(os.getcwd(), "images", "car.png"))

video.py

@@ -0,0 +1,165 @@
+import cv2
+import threading
+import sys
+import os
+import argparse
+import numpy as np
+from surround_view import FisheyeCameraModel, BirdView
+import surround_view.param_settings as settings
+
+
+class MultiCameraBirdView:
+    def __init__(self):
+        self.running = True
+        self.names = settings.camera_names
+        self.yamls = [os.path.join(os.getcwd(), "yaml", name + ".yaml") for name in self.names]
+        self.camera_models = [FisheyeCameraModel(camera_file, camera_name) for camera_file, camera_name in zip(self.yamls, self.names)]
+        
+        # 初始化摄像头
+        self.caps = []
+        self.which_cameras = {
+            "front": 0,
+            "back": 2,
+            "left": 1,
+            "right": 3
+        }
+        
+        # 初始化摄像头捕获
+        for name in self.names:
+            cap = cv2.VideoCapture(self.which_cameras[name], cv2.CAP_ANY)
+            cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV"))
+            cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
+            cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
+            if not cap.isOpened():
+                print(f"[ERROR] Cannot open {name} camera", file=sys.stderr)
+                self.running = False
+                return
+            self.caps.append(cap)
+        
+        # 初始化鸟瞰图
+        self.birdview = BirdView()
+        
+        # 预先加载一次静态图像来初始化权重矩阵
+        self._initialize_weights()
+    
+    def _initialize_weights(self):
+        """使用静态图像初始化权重矩阵"""
+        try:
+            # 加载静态图像用于初始化权重
+            images = [os.path.join(os.getcwd(), "images", name + ".png") for name in self.names]
+            static_frames = []
+            
+            for image_file, camera_model in zip(images, self.camera_models):
+                img = cv2.imread(image_file)
+                if img is None:
+                    print(f"[ERROR] Cannot load static image: {image_file}")
+                    continue
+                img = camera_model.undistort(img)
+                img = camera_model.project(img)
+                img = camera_model.flip(img)
+                static_frames.append(img)
+            
+            if len(static_frames) == 4:
+                # 初始化权重和掩码矩阵
+                Gmat, Mmat = self.birdview.get_weights_and_masks(static_frames)
+                print("[INFO] Weights and masks initialized successfully")
+            else:
+                print("[WARNING] Could not load all static images for weight initialization")
+        except Exception as e:
+            print(f"[ERROR] Failed to initialize weights: {e}", file=sys.stderr)
+    
+    def process_frame(self, img, camera_model):
+        """处理单帧图像：去畸变 -> 投影 -> 翻转"""
+        img = camera_model.undistort(img)
+        img = camera_model.project(img)
+        img = camera_model.flip(img)
+        return img
+    
+    def run(self):
+        while self.running:
+            frames = []
+            for i, (cap, camera_model) in enumerate(zip(self.caps, self.camera_models)):
+                ret, frame = cap.read()
+                if not ret or frame is None:
+                    print(f"[ERROR] Failed to read frame from camera {self.names[i]}")
+                    continue
+                processed_frame = self.process_frame(frame, camera_model)
+                frames.append(processed_frame)
+            
+            if len(frames) == 4:  # 确保所有摄像头都正常工作
+                try:
+                    # 更新鸟瞰图（权重矩阵已预先初始化）
+                    self.birdview.update_frames(frames)
+                    self.birdview.stitch_all_parts()
+                    self.birdview.make_white_balance()
+                    self.birdview.copy_car_image()
+                    
+                    # 显示鸟瞰图
+                    birdview_display = cv2.resize(self.birdview.image, (750, 1000))
+                    cv2.imshow("Real-time Bird's Eye View", birdview_display)
+                    
+                    if cv2.waitKey(1) & 0xFF == ord('q'):
+                        self.running = False
+                        break
+                except Exception as e:
+                    print(f"[ERROR] Processing error: {e}", file=sys.stderr)
+                    import traceback
+                    traceback.print_exc()
+                    continue
+        
+        # 释放资源
+        for cap in self.caps:
+            cap.release()
+        cv2.destroyAllWindows()
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Real-time 4-Camera Bird's Eye View")
+    parser.add_argument("--mode", type=str, required=True, 
+                        choices=["realtime", "static"],
+                        help="Mode: 'realtime' for live video, 'static' for static images")
+    args = parser.parse_args()
+    
+    if args.mode == "static":
+        # 原有的静态图像处理代码
+        names = settings.camera_names
+        images = [os.path.join(os.getcwd(), "images", name + ".png") for name in names]
+        yamls = [os.path.join(os.getcwd(), "yaml", name + ".yaml") for name in names]
+        camera_models = [FisheyeCameraModel(camera_file, camera_name) for camera_file, camera_name in zip(yamls, names)]
+
+        projected = []
+        for image_file, camera in zip(images, camera_models):
+            img = cv2.imread(image_file)
+            img = camera.undistort(img)
+            img = camera.project(img)
+            img = camera.flip(img)
+            projected.append(img)
+
+        birdview = BirdView()
+        Gmat, Mmat = birdview.get_weights_and_masks(projected)  # 初始化权重矩阵
+        birdview.update_frames(projected)
+        birdview.stitch_all_parts()
+        birdview.make_white_balance()
+        birdview.copy_car_image()
+        img_small = cv2.resize(birdview.image, (300, 600))
+        cv2.imshow("BirdView Result", img_small)
+        
+        while True:
+            key = cv2.waitKey(1) & 0xFF
+            if key == ord("q"):
+                cv2.destroyAllWindows()
+                return -1
+    
+    elif args.mode == "realtime":
+        # 实时视频处理
+        print("Starting real-time 4-camera bird's eye view...")
+        print("Press 'q' to quit")
+        multi_cam = MultiCameraBirdView()
+        if multi_cam.running:
+            multi_cam.run()
+        else:
+            print("[ERROR] Failed to initialize cameras")
+
+
+if __name__ == "__main__":
+    main()

yaml/back.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 +12,26 @@ dist_coeffs: !!opencv-matrix
    dt: d
    data: [ -9.2062464083377798e-03, -6.3620029090856196e-03,
        3.3735324773401221e-03, -1.0289639180500810e-03 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1920, 1080 ]
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.2036739433214386e-01, -5.4728752801607983e-01,
+       4.0669019104227289e+02, -2.2188976198317060e-02,
+       -5.6384233390057015e-01, 3.2888161676725548e+02,
+       -8.4090277960475698e-05, -2.2171947701663608e-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: [ -150., -100. ]

yaml/front.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 +12,26 @@ dist_coeffs: !!opencv-matrix
    dt: d
    data: [ -1.5749135021037808e-02, 2.9390620422222835e-03,
        -4.3176357910129585e-03, 1.3296605027646462e-03 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1920, 1080 ]
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.8474101274061588e-01, -5.4968582653196851e-01,
+       4.1680109927253847e+02, 9.7678250049304510e-03,
+       -4.9902821258073782e-01, 3.0304882941065989e+02,
+       4.3706314843734903e-05, -2.1601287734653030e-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: [ -150., -100. ]

yaml/left.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 +12,26 @@ dist_coeffs: !!opencv-matrix
    dt: d
    data: [ -1.1422407725638895e-02, -1.2103818796148216e-02,
        9.0774770002077006e-03, -2.8278270352926444e-03 ]
+resolution: !!opencv-matrix
+   rows: 2
+   cols: 1
+   dt: i
+   data: [ 1920, 1080 ]
+project_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.0080056297490056e-01, -6.1187781235143224e-01,
+       4.5434494858537062e+02, -2.9556627352318810e-03,
+       -5.0502143174738201e-01, 3.0816263946657051e+02,
+       -1.8229281242150158e-05, -2.1645728959083397e-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., -100. ]

yaml/right.yaml

@@ -17,15 +17,14 @@ resolution: !!opencv-matrix
    cols: 1
    dt: i
    data: [ 1920, 1080 ]
-   
 project_matrix: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ -4.5788125154634862e-01, -2.4847281172116515e+00,
+   data: [ -2.0592797222758674e-01, -6.8891188079230814e-01,
-       1.1901356339453334e+03, 7.0190114936088524e-02,
+       4.5964514365855666e+02, 2.1763027489573539e-02,
-       -2.2880693827869965e+00, 1.0012772462548877e+03,
+       -6.3287857963783611e-01, 3.4166476009354983e+02,
-       1.4549566908718078e-04, -3.4392525895003334e-03, 1. ]
+       1.3350446934563321e-04, -2.6387220529307219e-03, 1. ]
 scale_xy: !!opencv-matrix
    rows: 2
    cols: 1
@@ -35,4 +34,4 @@ shift_xy: !!opencv-matrix
    rows: 2
    cols: 1
    dt: f
-   data: [ -80., -200. ]
+   data: [ -80., -100. ]