matrices.py

import numpy as np
from camera import Camera

# V1 Back
MTX_BACK = np.array(
    [[1.13671149e+03, 0.00000000e+00, 6.96143491e+02], [0.00000000e+00, 1.13457622e+03, 5.11835117e+02],
     [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]
)
DIST_BACK = np.array(
    [[-0.43299744, 0.30782109, 0.00054611, -0.00313764, -0.16880773]]
)

# V1 Left
MTX_LEFT = np.array(
    [[1.14801808e+03, 0.00000000e+00, 7.29834940e+02], [0.00000000e+00, 1.14104911e+03, 4.75259909e+02],
     [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]
)
DIST_LEFT = np.array(
    [[-4.41580377e-01, 2.43302553e-01, -2.77702500e-04, -1.88264464e-03, -7.64686080e-02]]
)

# V1 Right
MTX_RIGHT = np.array(
    [[1.13972600e+03, 0.00000000e+00, 7.60870162e+02], [0.00000000e+00, 1.14385741e+03, 4.82767418e+02],
     [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]
)
DIST_RIGHT = np.array(
    [[-0.42996844, 0.23429158, 0.00074934, -0.00440992, -0.07717715]]
)

MTX_TOP = np.array(
    [
        [1.02197121e+03, 0.00000000e+00, 7.01780802e+02],
        [0.00000000e+00, 1.02234817e+03, 5.74963776e+02],
        [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]
    ]
)
DIST_TOP = np.array(
    [
        [
            -3.86403957e-01,
            2.05668687e-01,
            -5.69025561e-04,
            -1.77836200e-04,
            -6.73140010e-02
        ]
    ]
)

matrices = {
    Camera.TOP: (MTX_TOP, DIST_TOP),
    Camera.RIGHT: (MTX_RIGHT, DIST_RIGHT),
    Camera.LEFT: (MTX_LEFT, DIST_LEFT),
    Camera.BACK: (MTX_BACK, DIST_BACK),
}