(self)
return ret
Get homogenous camera projection matrix
        :return: 4x4 camera projection matrix
Get homogenous camera projection matrix
        :return: 4x4 camera projection matrix
Get homogenous camera projection matrix : return : 4x4 camera projection matrix
def getCameraProjection(self):
        """
        Get homogenous camera projection matrix
        :return: 4x4 camera projection matrix
        """
        ret = np.zeros((4, 4), np.float32)
        ret[0, 0] = self.fx
        ret[1, 1] = self.fy
        ret[2, 2] = 1.
        ret[0, 2] = self.ux
        ret[1, 2] = self.uy
        ret[3, 2] = 1.
        return ret
def getCameraProjection ( self ) : ret = np . zeros ( ( 4 , 4 ) , np . float32 ) ret [ 0 , 0 ] = self . fx ret [ 1 , 1 ] = self . fy ret [ 2 , 2 ] = 1. ret [ 0 , 2 ] = self . ux ret [ 1 , 2 ] = self . uy ret [ 3 , 2 ] = 1. return ret