renderer/glRenderer.py [420:455]:
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        d = BACKGROUND_IMAGE_PLANE_DEPTH

        glTexCoord2f(0, 0)
        # #Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> K(m_options.m_pK);
        P = np.array([0, 0, 1])
        P = np.matmul(K_inv,P)
        P = P / P[2]
        glVertex3f(P[0] * d, P[1] * d, P[2] * d);  # K^{-1} [0, 0, 1]^T

        glTexCoord2f(1, 0)
        # P = [1920, 0, 1]
        P = [texWidth, 0, 1]

        P = np.matmul(K_inv,P)
        P = P / P[2]
        glVertex3f(P[0] * d, P[1] * d, P[2] * d);  # K^{-1} [0, 0, 1]^T

        glTexCoord2f(1, 1)
        # P = [1920, 1080, 1]
        P = [texWidth, texHeight, 1]
        P = np.matmul(K_inv,P)
        P = P / P[2]
        glVertex3f(P[0] * d, P[1] * d, P[2] * d)

        glTexCoord2f(0, 1)
        # P = [0, 1080, 1]
        P = [0, texHeight, 1]
        P = np.matmul(K_inv,P)
        P = P / P[2]
        glVertex3f(P[0] * d, P[1] * d, P[2] * d)
        glEnd()

        glEnable(GL_LIGHTING)
        glEnable(GL_CULL_FACE)
        glEnable(GL_DEPTH_TEST)
        glDisable(GL_TEXTURE_2D)
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renderer/glViewer.py [1081:1116]:
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    d = BACKGROUND_IMAGE_PLANE_DEPTH

    glTexCoord2f(0, 0)
    # #Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> K(m_options.m_pK);
    P = np.array([0, 0, 1])
    P = np.matmul(K_inv,P)
    P = P / P[2]
    glVertex3f(P[0] * d, P[1] * d, P[2] * d);  # K^{-1} [0, 0, 1]^T

    glTexCoord2f(1, 0)
    # P = [1920, 0, 1]
    P = [texWidth, 0, 1]

    P = np.matmul(K_inv,P)
    P = P / P[2]
    glVertex3f(P[0] * d, P[1] * d, P[2] * d);  # K^{-1} [0, 0, 1]^T

    glTexCoord2f(1, 1)
    # P = [1920, 1080, 1]
    P = [texWidth, texHeight, 1]
    P = np.matmul(K_inv,P)
    P = P / P[2]
    glVertex3f(P[0] * d, P[1] * d, P[2] * d)

    glTexCoord2f(0, 1)
    # P = [0, 1080, 1]
    P = [0, texHeight, 1]
    P = np.matmul(K_inv,P)
    P = P / P[2]
    glVertex3f(P[0] * d, P[1] * d, P[2] * d)
    glEnd()

    glEnable(GL_LIGHTING)
    glEnable(GL_CULL_FACE)
    glEnable(GL_DEPTH_TEST)
    glDisable(GL_TEXTURE_2D)
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