mvs-texturing参数计算

https://github.com/nmoehrle/mvs-texturing/issues/52#issuecomment-296996620

def set_intrinsics(self, K, width, height):                                                                                                                                                
    fx = K[0, 0]                                                                                                                                                                           
    fy = K[1, 1]                                                                                                                                                                           
                                                                                                                                                                                           
    self.paspect = fy / fx                                                                                                                                                                 
                                                                                                                                                                                               
    dim_aspect = width / height                                                                                                                                                            
    img_aspect = dim_aspect * self.paspect                                                                                                                                                 
                                                                                                                                                                                               
    if img_aspect < 1.0:                                                                                                                                                                   
        self.flen = fy / height                                                                                                                                                            
    else:                                                                                                                                                                                  
        self.flen = fx / width                                                                                                                                                             
                                                                                                                                                                                               
    ppx = K[0, 2] / width                                                                                                                                                                  
    ppy = K[1, 2] / height                                                                                                                                                                 
                                                                                                                                                                                               
    self.pp = [ppx, ppy] 

矩阵为彩色相机pose的逆。

-d area