(znear, zfar, fovX, fovY)
| 50 | return np.float32(Rt) |
| 51 | |
| 52 | def getProjectionMatrix(znear, zfar, fovX, fovY): #ndc to |
| 53 | tanHalfFovY = math.tan((fovY / 2)) |
| 54 | tanHalfFovX = math.tan((fovX / 2)) |
| 55 | |
| 56 | top = tanHalfFovY * znear |
| 57 | bottom = -top |
| 58 | right = tanHalfFovX * znear |
| 59 | left = -right |
| 60 | |
| 61 | P = torch.zeros(4, 4) |
| 62 | |
| 63 | z_sign = 1.0 |
| 64 | |
| 65 | P[0, 0] = 2.0 * znear / (right - left) |
| 66 | P[1, 1] = 2.0 * znear / (top - bottom) |
| 67 | P[0, 2] = (right + left) / (right - left) |
| 68 | P[1, 2] = (top + bottom) / (top - bottom) |
| 69 | P[3, 2] = z_sign |
| 70 | # P[2, 2] = z_sign * zfar / (zfar - znear) |
| 71 | P[2, 2] = z_sign * (zfar+znear) / (zfar - znear) |
| 72 | |
| 73 | P[2, 3] = -(zfar * znear) / (zfar - znear) |
| 74 | return P |
| 75 | |
| 76 | # https://stackoverflow.com/a/22064917 |
| 77 | #GLdouble perspMatrix[16]={2*fx/w,0,0,0,0,2*fy/h,0,0,2*(cx/w)-1,2*(cy/h)-1,-(far+near)/(far-near),-1,0,0,-2*far*near/(far-near),0}; |
no outgoing calls
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