根据FOV和图像大小计算相机内参[Python]

在Blender或其虚拟环境中，通常设置相机FOV和图像长和宽。以下代码展示了如何通过这几个参数获得相机内参：

def camera_intrinsic_transform(vfov=45,hfov=60,pixel_width=320,pixel_height=240):
    camera_intrinsics = np.zeros((3,4))
    camera_intrinsics[2,2] = 1
    camera_intrinsics[0,0] = (pixel_width/2.0)/math.tan(math.radians(hfov/2.0))
    camera_intrinsics[0,2] = pixel_width/2.0
    camera_intrinsics[1,1] = (pixel_height/2.0)/math.tan(math.radians(vfov/2.0))
    camera_intrinsics[1,2] = pixel_height/2.0
    return camera_intrinsics

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