Camera pose change #4
Description
Hi, using the camera external parameter under the opencv coordinate system
camera internal parameters:
And by way of reversing the y-axis and z-axis transformations of the camera external parameters and generating the projection matrix according to the formula, I finally found that only the black background could be rendered. Maybe there is something wrong with the transformation of camera internal and external parameters, how can I convert camera internal and external parameters to openGL's modelview matrix and projection matrix?
Here is the python code to transform the camera pose
def camera_extrinsic_to_opengl_mv(W2C, device):
flip_yz = np.eye(4)
flip_yz[1, 1] = -1
flip_yz[2, 2] = -1
#W2C: World coordinate system to camera coordinate system
W2C = np.matmul(W2C, flip_yz)
return torch.from_numpy(W2C).to(device).float()
def camera_intrinsic_to_opengl_projection(intrinsic, width, height, device,
near=1.0, far=100.0,flip_y=False):
fx = intrinsic[0, 0]
fy = intrinsic[1, 1]
cx = intrinsic[0, 2]
cy = intrinsic[1, 2]
# Compute left, right, bottom, top planes
left = -cx * near / fx
right = (width - cx) * near / fx
bottom = -cy * near / fy
top = (height - cy) * near / fy
# Compute perspective projection matrix
mat = torch.zeros((4, 4), device=device)
mat[0, 0] = 2 * near / (right - left)
mat[0, 2] = (right + left) / (right - left)
mat[1, 1] = 2 * near / (top - bottom) * (-1 if flip_y else 1)
mat[1, 2] = (top + bottom) / (top - bottom)
mat[2, 2] = -(far + near) / (far - near)
mat[2, 3] = -2 * far * near / (far - near)
mat[3, 2] = -1
return mat.float()