| 72 | return P |
| 73 | |
| 74 | def getProjectionMatrixCenterShift(znear, zfar, cx, cy, fl_x, fl_y, w, h): |
| 75 | top = cy / fl_y * znear |
| 76 | bottom = -(h-cy) / fl_y * znear |
| 77 | |
| 78 | left = -(w-cx) / fl_x * znear |
| 79 | right = cx / fl_x * znear |
| 80 | |
| 81 | P = torch.zeros(4, 4) |
| 82 | |
| 83 | z_sign = 1.0 |
| 84 | |
| 85 | P[0, 0] = 2.0 * znear / (right - left) |
| 86 | P[1, 1] = 2.0 * znear / (top - bottom) |
| 87 | P[0, 2] = (right + left) / (right - left) |
| 88 | P[1, 2] = (top + bottom) / (top - bottom) |
| 89 | P[3, 2] = z_sign |
| 90 | P[2, 2] = z_sign * zfar / (zfar - znear) |
| 91 | P[2, 3] = -(zfar * znear) / (zfar - znear) |
| 92 | return P |
| 93 | |
| 94 | def fov2focal(fov, pixels): |
| 95 | return pixels / (2 * math.tan(fov / 2)) |