def testP(self):
K, RT = Calibrate.decomposeKRT(self.P())
print ('K', K, self.K())
print ('RT', RT, self.RT())
print (self.cameraFovX,self.cameraKox,self.cameraKoy,self.cameraKsquare,self.cameraKskew)
print ((self.cameraPan, self.cameraTilt, self.cameraRoll), self.cameraT, self.cameraInterest)
print ('cf')
print (Calibrate.decomposeK(K))
print (Calibrate.decomposeRT(RT, self.cameraInterest, False))
def setK(self, K): '''Set the view to match the given intrinsic matrix.''' self.cameraFovX,self.cameraKox,self.cameraKoy,self.cameraKsquare,self.cameraKskew = Calibrate.decomposeK(K)