diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params
index bb5fbce..1384e3e 100644
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -1,32 +1,32 @@
 %YAML:1.0
 ---
-M1: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [7.0580528313369666e+02, 0.0000000000000000e+00, 3.9948998919893694e+02, 0.0000000000000000e+00, 7.0575619835820726e+02, 2.4787289482695121e+02, 0.0000000000000000e+00, 0.0000000000000000e+00, 1.0000000000000000e+00]
-D1: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [-4.6552404514131829e-01, 2.3785911744625499e-01, 7.1382174731459054e-04, -9.0521175159124524e-04, 0.0000000000000000e+00]
-M2: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [7.0873956955525932e+02, 0.0000000000000000e+00, 3.8004681343447817e+02, 0.0000000000000000e+00, 7.0823391571075069e+02, 2.3111368468836466e+02, 0.0000000000000000e+00, 0.0000000000000000e+00, 1.0000000000000000e+00]
-D2: !!opencv-matrix
-   rows: 1
-   cols: 5
-   dt: d
-   data: [-4.5938049437344691e-01, 2.0968051724034908e-01, 1.1071355339345569e-03, -6.2121270120321431e-04, 0.0000000000000000e+00]
-R: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [9.9999877906799961e-01, 1.5267382378091109e-03, 3.3306585441506117e-04, -1.5281619167571623e-03, 9.9998951436316075e-01, 4.3169300302323549e-03, -3.2647153986033672e-04, -4.3174337381088283e-03, 9.9999062654719451e-01]
-T: !!opencv-matrix
-   rows: 3
-   cols: 1
-   dt: d
-   data: [-1.2079697095106799e+02, 3.5210975863837529e-01, 1.0200361378962297e-01]
+in_left:
+   -
+      width: 752
+      height: 480
+      fx: 3.6220059643202876e+02
+      fy: 3.6350065250745848e+02
+      cx: 4.0658699068023441e+02
+      cy: 2.3435161110061483e+02
+      model: 0
+      coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
+          -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
+in_right:
+   -
+      width: 752
+      height: 480
+      fx: 3.6514014888558478e+02
+      fy: 3.6513385298966961e+02
+      cx: 3.8932395100630907e+02
+      cy: 2.3495160212312547e+02
+      model: 0
+      coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
+          5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
+ex_right_to_left:
+   rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
+       5.0988459509619687e-02, 5.9890316389333252e-03,
+       9.9995670037792639e-01, 7.1224201868366971e-03,
+       -5.1031440326695092e-02, -6.8076406092671274e-03,
+       9.9867384471984544e-01 ]
+   translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
+       -5.2058205159996538e+00 ]