Stereo Fisheye Calibration

[KUTuaNithid]

Good day

I'm using calibrator.py to calibrate my fisheye stereo camera.

The problem is about the projection matrix.

P[0, 0] of left and right camera is not match.

I suspect in this line. Why we need this ?

image_pipeline/camera_calibration/src/camera_calibration/calibrator.py

Line 1216 in e139e5a

self.l.P[:3,:3] = numpy.dot(self.l.intrinsics,self.l.R)

Basically, cv2.fisheye.stereoRectify already provides projection matrix which P[0, 0] matchs between 2 cameras.
After this operation, projection matrix was changed and P[0, 0] is not matched between 2 cameras ?

The question is

1. Why we need

   image_pipeline/camera_calibration/src/camera_calibration/calibrator.py

   Line 1216 in e139e5a

   self.l.P[:3,:3] = numpy.dot(self.l.intrinsics,self.l.R)

2. Is it strange when P[0, 0] is not matched in this operation ?