%YAML:1.0
---
# ============================================================
# 相机标定与内参配置（27RM）
# 本文件由 ./build/.../calibrate 生成，也可手工维护
# ⚠️ M12 镜头的【对焦环位置】会改变有效焦距：
#    一旦调焦，必须重新标定并重新做卷尺距离验证！
# ============================================================
camera_name: "MV-SUA131GC"                                                              # 相机型号
lens: "MV-LD-M12-2.8MM-C"                                                               # 镜头型号，焦距 2.8mm
sensor: "1/3\" CMOS, 3.75um pixel"                                                      # 传感器类型                                                    
resolution: "1280x1024"                                                                 # 分辨率    
calib_date: "2026-09-15"                                                                # 标定日期
board_spec: "10x7 inner corners, square=20.0mm"                                         # 标定板规格
calib_images: "31 (old_run 12 + new 19)"                                                # 标定图像数量
distance_verify: "ruler 700mm -> computed 687~697mm, error <2%"                         # 用卷尺验证 PnP 测距的精度
notes: "refocus invalidates this calibration; must re-verify with ruler"                # 备注

camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 657.47392591548282, 0., 625.64119358041364, 0.,
       658.25468859263844, 509.00483710801581, 0., 0., 1. ]
dist_coeffs: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [ -0.0012152502343767638, -0.058463444062878803,
       -0.0022603001279860352, 0.0018169600148664874,
       0.040233970225725772 ]
image_width: 1280
image_height: 1024
square_mm: 20.
board_cols: 10
board_rows: 7
rms: 0.48277734002307909