camera.py 文件源码

def convertToOpenGLCameraMatrix(K, framebufferSize, near, far):
    """ Convert a camera calibration matrix into OpenGL format. """
    width, height = framebufferSize

    # print 'framebufferSize:', framebufferSize

    fx = K[0,0]
    fy = K[1,1]
    fovy = 2*np.arctan(0.5*height/fy)#*180/np.pi
    aspect = (width*fy)/(height*fx)
    # define the near and far clipping planes
    # near = 0.1
    # far = 100.0

    # fx = 10.0
    # fy = 10.0
    # fovy = 90*(np.pi/180.0)
    # aspect = (width*fy)/(height*fx)

    proj = openGLPerspectiveMatrix(fovy,aspect,near,far)

    return proj