Compute OpenGL projection matrix from intrinsic parameters

gistfile1.cpp

Matrix4d computeOpenGLProjectionMatrix(const Matrix3d &K, double x0,double y0, double width, double height, double znear, double zfar)
{
    double depth = zfar - znear;
    double q =  -(zfar + znear) / depth;
    double qn = -2.0 * (zfar * znear) / depth;
    
    Matrix4d OpenGLProjectionMatrix;

    OpenGLProjectionMatrix << 2*K(0,0)/width, -2*K(0,1)/width, (-2*K(0,2)+width+2*x0)/width, 0 ,
            0,             -2*K(1,1)/height,(-2*K(1,2)+height+2*y0)/height, 0,
            0,0,q,qn,
            0,0,-1,0;
}