Function build_projection_matrix

tools/utils.py:137–148

(w, h, fov, is_behind_camera=False)

    return math.sqrt((loc1.x-loc2.x)**2+(loc1.y-loc2.y)**2)

def build_projection_matrix(w, h, fov, is_behind_camera=False):
    focal = w / (2.0 * np.tan(fov * np.pi / 360.0))
    K = np.identity(3)

    if is_behind_camera:
        K[0, 0] = K[1, 1] = -focal
    else:
        K[0, 0] = K[1, 1] = focal

    K[0, 2] = w / 2.0
    K[1, 2] = h / 2.0
    return K

def convert_depth(data):
    """