OpenCV to OpenGL projection

OpenCVmatrix.txt

How to get the proper OpenGL projection matrix from the OpenCV camera calibration values?

For the simple common case where the OpenCV camera matrix has the form:

|fx  0 cx|
|0  fy cy|
|0  0   1|

The corresponding OpenGL projection matrix can be computed like this:

m[0][0] = 2.0 * fx / width;
m[0][1] = 0.0;
m[0][2] = 0.0;
m[0][3] = 0.0;

m[1][0] = 0.0;
m[1][1] = -2.0 * fy / height;
m[1][2] = 0.0;
m[1][3] = 0.0;

m[2][0] = 1.0 - 2.0 * cx / width;
m[2][1] = 2.0 * cy / height - 1.0;
m[2][2] = (zfar + znear) / (znear - zfar);
m[2][3] = -1.0;

m[3][0] = 0.0;
m[3][1] = 0.0;
m[3][2] = 2.0 * zfar * znear / (znear - zfar);
m[3][3] = 0.0;

Where height and width are the size of the captured image ; znear and zfar are the clipping value for the projection.