相机内参转换为3*3矩阵

{
  "camera": {
    "h": 600,
    "w": 1200,
    "fx": 600,
    "fy": 600,
    "cx": 599.5,
    "cy": 339.5,
    "scale": 6553.5
  }
}

import  torch

def get_intrinsic(w,h,fx,fy,cx,cy):
    cx = cx if cx > 0 else w / 2
    cy = cy if cy > 0 else h / 2
    intrinstic = torch.tensor([[fx, 0, cx], [0, fy, cy], [0, 0, 1]], dtype=torch.float32)
    return intrinstic

if __name__=="__main__":
    # {
    #     "camera": {
    #         "h": 600,
    #         "w": 1200,
    #         "fx": 600,
    #         "fy": 600,
    #         "cx": 599.5,
    #         "cy": 339.5,
    #         "scale": 6553.5
    #     }
    # }
    intrinstic=get_intrinsic(1200,600,600,600,599.6,339.5)
    print("finish")

 如果给的是FoVx和FoVy，那么通过如下公式计算得到fx,fy

fx, fy = fov2focal(FoVx, w), fov2focal(FoVy, h)

def fov2focal(fov, pixels):
    return pixels / (2 * math.tan(fov / 2))