I have a camera projection matrix P[3x4] that I obtained by calibration.
I would like to create the exact same view in OpenGL as the one described by the calibration matrix. To test the fidelity of the result I can compare the image rendered in OpenGL with the image taken by the calibrated camera (I have the image of the calibration object and the 3D coordinates of the calibration points).
I can’t figure out what is the connection between the GL_PROJECTION and the matrix P. According to Hartley and Zisserman camera matrix P can be decomposed as P = K[R|t], where [R|t] can be used as a MODELVIEW matrix in OpenGL. However, the upper triangular matrix K (the intrinsic camera parameters) doesn’t seem to be directly useful in specifying the projective transformation in OpenGL.
Any advice on how I can incorporate the intrinsic parameters info into OpenGL GL_PROJECTION matrix would be greatly appreciated!