| 49 | return np.float32(Rt) |
| 50 | |
| 51 | def getProjectionMatrix(znear, zfar, fovX, fovY): |
| 52 | tanHalfFovY = math.tan((fovY / 2)) |
| 53 | tanHalfFovX = math.tan((fovX / 2)) |
| 54 | |
| 55 | top = tanHalfFovY * znear |
| 56 | bottom = -top |
| 57 | right = tanHalfFovX * znear |
| 58 | left = -right |
| 59 | |
| 60 | P = torch.zeros(4, 4) |
| 61 | |
| 62 | z_sign = 1.0 |
| 63 | |
| 64 | P[0, 0] = 2.0 * znear / (right - left) |
| 65 | P[1, 1] = 2.0 * znear / (top - bottom) |
| 66 | P[0, 2] = (right + left) / (right - left) |
| 67 | P[1, 2] = (top + bottom) / (top - bottom) |
| 68 | P[3, 2] = z_sign |
| 69 | P[2, 2] = z_sign * zfar / (zfar - znear) |
| 70 | P[2, 3] = -(zfar * znear) / (zfar - znear) |
| 71 | return P |
| 72 | |
| 73 | def getProjectionMatrix2(znear, zfar, K, W, H): |
| 74 | fx = K[0, 0] |