我正在尝试模拟房间中的深度相机，我的相机能够在世界中移动和旋转，并且房间被模拟为围绕 (0,0,0) 的 3d 立方体
单击按钮时，我想对图像中的 N 个随机点进行采样，并获取这些点与相机的距离（“现实世界”中的距离）。到目前为止，我已经成功创建了移动相机和立方体的场景
(Example https://i.stack.imgur.com/01SGm.png)
我尝试 gluUnProject 来获取 3d 点
model_view = np.array(glGetDoublev(GL_MODELVIEW_MATRIX))
proj = np.array(glGetDoublev(GL_PROJECTION_MATRIX))
view = np.array(glGetDoublev(GL_VIEWPORT))
3d_point = gluUnProject(x,y, 0.0)
其中 x，y 是图像中像素的坐标，但是当我检查像素时我知道它们的位置（立方角），我得到的感觉像是随机结果。
我对 openGL 很陌生，所以我可能会遗漏一些东西，从数学角度来说，我想做的就是在像素坐标上应用投影和视图矩阵的逆，但这不起作用。
我在下面附上了房间模拟的代码。
提前致谢。
import pygame
from pygame.locals import *
import numpy as np
import random
from OpenGL.GL import *
from OpenGL.GLU import *
display = (800, 600)
import math
def get_cube_information():
vertices = (
(1, -1, -1),
(1, 1, -1),
(-1, 1, -1),
(-1, -1, -1),
(1, -1, 1),
(1, 1, 1, ),
(-1, -1, 1),
(-1, 1, 1),
)
edges = (
(0,1),
(0,3),
(0,4),
(2,1),
(2,3),
(2,7),
(6,3),
(6,4),
(6,7),
(5,1),
(5,4),
(5,7),
)
surfaces = (
(0,1,2,3),
(3,2,7,6),
(6,7,5,4),
(4,5,1,0),
(1,5,7,2),
(4,0,3,6),
)
colors = (
(1.000, 0.920, 0.000),
(0.000, 0.860, 0.000),
(1.000, 0.480, 0.000),
(1.000, 1.000, 1.000),
(0.900, 0.000, 0.000),
(0.000, 0.000, 0.950)
)
return vertices, edges, surfaces, colors
def Cube():
glBegin(GL_QUADS)
(vertices, edges, surfaces, colors) = get_cube_information()
for i, surface in enumerate(surfaces):
x = 0
color = colors[i]
for vertex in surface:
x += 1
glColor3fv(color)
glVertex3fv(vertices[vertex])
glEnd()
glBegin(GL_LINES)
for edge in edges:
for vertex in edge:
glVertex3fv(vertices[vertex])
glEnd()
def main():
pygame.init()
tx = 0
ty = 0
tz = 0
ry = 0
rx = 0
pygame.display.set_mode(display, DOUBLEBUF|OPENGL|RESIZABLE)
glMatrixMode(GL_PROJECTION)
gluPerspective(45, (display[0] / display[1]), 0.1, 50.0)
view_mat = np.matrix(np.identity(4), copy=False, dtype='float32')
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glTranslatef(0, 0, 0)
glGetFloatv(GL_MODELVIEW_MATRIX, view_mat)
glLoadIdentity()
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
quit()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
pygame.quit()
quit()
if event.key == pygame.K_a:
tx = 0.05
elif event.key == pygame.K_d:
tx = -0.05
elif event.key == pygame.K_w:
tz = 0.05
elif event.key == pygame.K_s:
tz = -0.05
elif event.key == pygame.K_RIGHT:
ry = 1.0
elif event.key == pygame.K_LEFT:
ry = -1.0
elif event.key == pygame.K_UP:
rx = -1.0
elif event.key == pygame.K_DOWN:
rx = 1.0
elif event.key == pygame.K_SPACE:
continue
elif event.type == pygame.KEYUP:
if event.key == pygame.K_a and tx > 0:
tx = 0
elif event.key == pygame.K_d and tx < 0:
tx = 0
elif event.key == pygame.K_w and tz > 0:
tz = 0
elif event.key == pygame.K_s and tz < 0:
tz = 0
elif event.key == pygame.K_RIGHT and ry > 0:
ry = 0.0
elif event.key == pygame.K_LEFT and ry < 0:
ry = 0.0
elif event.key == pygame.K_DOWN and rx > 0:
rx = 0.0
elif event.key == pygame.K_UP and rx < 0:
rx = 0.0
elif event.type == pygame.MOUSEBUTTONDOWN:
#here I want to sample the points and return their (x,y) in the image and their distance from the camera.
continue
glPushMatrix()
glLoadIdentity()
glTranslatef(tx, ty, tz)
glRotatef(ry, 0, 1, 0)
glRotatef(rx, 1, 0, 0)
glMultMatrixf(view_mat)
glGetFloatv(GL_MODELVIEW_MATRIX, view_mat)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
Cube()
glPopMatrix()
pygame.display.flip()
pygame.time.wait(10)
main()
