getPMatrix.py 文件源码

def getGLM(self):
        R, _ = cv2.Rodrigues(self.RVEC)
        Rt = np.hstack((R,self.TVEC))

        Rx = np.array([[1,0,0],[0,-1,0],[0,0,-1]])

        M = np.eye(4)
        M[:3,:] = np.dot(Rx,Rt)

        m = M.T
        return m.flatten()


    # Debug code.