标定工具得到的Rt参数都表示原点在相机坐标系下的变换，因此后面绘制时需要将其转化到相机相对于原点的变换。 转化也很简单: R’ --> R.T T’ --> -R.T @ T ok,下面就是简单的绘制了，直接看代码:
import time from OpenGL.GL import * import numpy as np from GEngine.shader import ShaderProgram from GEngine.model import Model, ModelFromExport, generate_grid_mesh import glm from GEngine.camera3D import Camera3D from GEngine.window import GWindow SCR_WIDTH = 800 SCR_HEIGHT = 800 # camera = Camera3D(glm.vec3(0.0, 5.0, 30.0)) camera = Camera3D(glm.vec3(-82.702095, 552.18964, 5557.3535), movement_speed=3500) window = GWindow("demo", SCR_WIDTH, SCR_HEIGHT, camera, keep_mouse_stay=True) light_color = (1.0, 1.0, 1.0) hand_color = (0.7, 0.7, 0.7) light_position = (-10, 6, 10) grid_position = [ glm.vec3(1.0, 1.0, 1.0), [glm.radians(90), glm.vec3(1.0, 0.0, 0.0)], glm.vec3(0, 0.0, 0) ] ##相机配置 R 3x3 t 3x1 camera_config1 = [ [[[-0.9115695, 0.41064942, 0.02020282], [0.06090775, 0.18347366, -0.9811359], [-0.4066096, -0.893143, -0.19226073]], [[-82.702095], [552.18964], [5557.3535]]], [[[0.93101627, 0.3647627, 0.01252435], [0.08939715, -0.19463754, -0.97679293], [-0.3538599, 0.91052973, -0.21381946]], [[-209.06287], [375.06915], [5818.277]]], [[[-0.92090756, -0.38473552, -0.06251254], [-0.02568138, 0.21992028, -0.97517973], [0.38893405, -0.89644504, -0.21240678]], [[623.0986], [290.9053], [5534.379]]], [[[0.9276671, -0.36360627, 0.08499598], [-0.01666269, -0.26770413, -0.9633571], [0.37303644, 0.89225835, -0.25439897]], [[-178.367], [423.46698], [4421.645]]] ] camera_config2 = [ [[[-0.9153617, 0.40180838, 0.02574755], [0.05154812, 0.18037356, -0.9822465], [-0.39931902, -0.89778364, -0.18581952]], [[-346.0509], [546.98083], [5474.481]]], [[[0.92816836, 0.37215385, 0.00224838], [0.08166409, -0.1977723, -0.9768404], [-0.36309022, 0.9068559, -0.2139576]], [[251.4252], [420.94223], [5588.196]]], [[[-0.91415495, -0.40277803, -0.04572295], [-0.04562341, 0.2143085, -0.97569996], [0.4027893, -0.8898549, -0.21428728]], [[480.4826], [253.83238], [5704.2075]]], [[[0.91415626, -0.40060705, 0.06190599], [-0.05641001, -0.2769532, -0.9592262], [0.40141782, 0.8733905, -0.27577674]], [[51.883537], [378.4209], [4406.1494]]] ] rorate_x_90 = np.array([[1, 0, 0, 0], [0, 0, 1, 0], [0, -1, 0, 0], [0, 0, 0, 1]], dtype=np.float32) def init(): grid_vertices, grid_mesh = generate_grid_mesh(-10, 10, step=0.5) global shader_program shader_program = ShaderProgram("resources/shaders/shader.vs", "resources/shaders/shader.fg") shader_program.init() global grid_model grid_model = Model([grid_vertices], indices=[grid_mesh]) global camera_shader_program camera_shader_program = ShaderProgram("resources/shaders/camera_shader.vs", "resources/shaders/camera_shader.fg") camera_shader_program.init() global camera_model camera_vertices = np.array([0, 0, 0, 0, 0, -1, -1, 2, 0, 0, 0, 0, 0, 0, 0, 1, 1, 2, 0, 0, 0, 0, 0, 0, 0, 1, -1, 2, 0, 0, 0, 0, 0, 0, 0, -1, 1, 2, 0, 0, -1, 1, 2, 0, 0, -1, -1, 2, 0, 0, -1, -1, 2, 0, 0, 1, -1, 2, 0, 0, 1, -1, 2, 0, 0, 1, 1, 2, 0, 0, 1, 1, 2, 0, 0, -1, 1, 2, 0, 0], dtype=np.float32) camera_model = Model([camera_vertices]) glEnable(GL_DEPTH_TEST) def render(): glClearColor(0, 0, 0, 0.0) glClearDepth(1.0) glPointSize(5) glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) projection = glm.perspective(glm.radians(camera.zoom), window.window_width * 1.0 / window.window_height, 0.1, 100000) view = camera.get_view_matrix() # # draw grid shader_program.use() shader_program.set_matrix("projection", glm.value_ptr(projection)) shader_program.set_matrix("view", glm.value_ptr(view)) m = glm.mat4(1.0) m = glm.translate(m, grid_position[2]) m = glm.rotate(m, glm.radians(90), grid_position[1][1]) m = glm.scale(m, glm.vec3(650)) shader_program.set_matrix("model", glm.value_ptr(m)) shader_program.un_use() grid_model.draw(shader_program, draw_type=GL_LINES) for conf in camera_config1: # # draw cameras camera_shader_program.use() camera_shader_program.set_matrix("projection", glm.value_ptr(projection)) camera_shader_program.set_matrix("view", glm.value_ptr(view)) camera_shader_program.set_uniform_3f("camera_color", [1., 0., 0.]) m_rt = np.eye(4, dtype=np.float32) r = np.array(conf[0], dtype=np.float32).T m_rt[:-1, -1] = -r @ np.array(conf[1], dtype=np.float32).squeeze() m_rt[:-1, :-1] = r m_s = np.eye(4, dtype=np.float32) * 250 m_s[3, 3] = 1 camera_shader_program.set_matrix("model", (rorate_x_90 @ m_rt @ m_s).T) camera_shader_program.un_use() camera_model.draw(camera_shader_program, draw_type=GL_LINES) for conf in camera_config2: # # draw cameras camera_shader_program.use() camera_shader_program.set_matrix("projection", glm.value_ptr(projection)) camera_shader_program.set_matrix("view", glm.value_ptr(view)) camera_shader_program.set_uniform_3f("camera_color", [0., 1., 0.]) m_rt = np.eye(4, dtype=np.float32) r = np.array(conf[0], dtype=np.float32).T m_rt[:-1, -1] = -r @ np.array(conf[1], dtype=np.float32).squeeze() m_rt[:-1, :-1] = r m_s = np.eye(4, dtype=np.float32) * 250 m_s[3, 3] = 1 camera_shader_program.set_matrix("model", (rorate_x_90 @ m_rt @ m_s).T) camera_shader_program.un_use() camera_model.draw(camera_shader_program, draw_type=GL_LINES) def main(): init() window.set_render_function(render) window.start_window_loop() if __name__ == "__main__": main()