fov计算内参

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