camera.py 文件源码

def getOpenGlCameraMatrix(self):
        K, R, t = self.factor()
        # print 'R', R

        # print 'getOpenGlCameraMatrix:'
        # print 'Kraw:', K

        K = convertToOpenGLCameraMatrix(K, self.framebufferSize, self.near, self.far)

        # print 'K:', K

        V = np.column_stack((R, t))
        V = np.row_stack((
            V,
            np.array([0,0,0,1], np.float32)
        ))

        # print 'V:', V

        P = K*V

        # print 'P:', P

        # vpMat = viewPortMatrix(framebufferSize)
        # print 'vpMat:', vpMat
        # print 'VpP:', vpMat*P

        return P