根据相机位置和Lookat信息计算相机外参[Python]

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我是靠谱客的博主斯文太阳，这篇文章主要介绍根据相机位置和Lookat信息计算相机外参[Python]，现在分享给大家，希望可以做个参考。

通常Blender或其他软件中通过相机位置和lookat信息指定相机pose。使用python根据这些信息获取相机外参的代码如下：

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def normalize(v):
return v/np.linalg.norm(v)
def world_to_camera_with_pose(view_pose):
lookat_pose = position_to_np_array(view_pose.lookat)
camera_pose = position_to_np_array(view_pose.camera)
up = np.array([0,1,0])
R = np.diag(np.ones(4))
R[2,:3] = normalize(lookat_pose - camera_pose)
R[0,:3] = normalize(np.cross(R[2,:3],up))
R[1,:3] = -normalize(np.cross(R[0,:3],R[2,:3]))
T = np.diag(np.ones(4))
T[:3,3] = -camera_pose
return R.dot(T)
def camera_to_world_with_pose(view_pose):
return np.linalg.inv(world_to_camera_with_pose(view_pose))