numpy Perspective Projection + Look At Matrices

camera.py

import numpy as np

def perspective_fov(fov, aspect_ratio, near_plane, far_plane):
	num = 1.0 / np.tan(fov / 2.0)
	num9 = num / aspect_ratio
	return np.array([
		[num9, 0.0, 0.0, 0.0],
		[0.0, num, 0.0, 0.0],
		[0.0, 0.0, far_plane / (near_plane - far_plane), -1.0],
		[0.0, 0.0, (near_plane * far_plane) / (near_plane - far_plane), 0.0]
	])

def look_at(camera_position, camera_target, up_vector):
	vector = camera_position - camera_target
	vector = vector / np.linalg.norm(vector)

	vector2 = np.cross(up_vector, vector)
	vector2 = vector2 / np.linalg.norm(vector2)

	vector3 = np.cross(vector, vector2)
	return np.array([
		[vector2[0], vector3[0], vector[0], 0.0],
		[vector2[1], vector3[1], vector[1], 0.0],
		[vector2[2], vector3[2], vector[2], 0.0],
		[-np.dot(vector2, camera_position), -np.dot(vector3, camera_position), np.dot(vector, camera_position), 1.0]
	])