irtk.transform.perspective_full

irtk.transform.perspective_full(fx: float, fy: float, cx: float, cy: float, aspect_ratio: float, near: float = 1e-06, far: float = 10000000.0) → torch.Tensor

Compute a full perspective projection matrix.

Parameters:

  • fx (float) – The focal length in x direction.

  • fy (float) – The focal length in y direction.

  • cx (float) – The x-coordinate of the principal point.

  • cy (float) – The y-coordinate of the principal point.

  • aspect_ratio (float) – The aspect ratio of the viewport.

  • near (float, optional) – The distance to the near clipping plane. Defaults to 1e-6.

  • far (float, optional) – The distance to the far clipping plane. Defaults to 1e7.

Returns:

A 4x4 full perspective projection matrix.

Return type:

torch.Tensor