renderer/glRenderer.py [345:387]:
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        texHeight*=0.5
        texWidth*=0.5

        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)

        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
        glBegin(GL_QUADS)
        glColor3f(1.0, 1.0, 1.0)
        # d = BACKGROUND_IMAGE_PLANE_DEPTH
        d = 10

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

        glTexCoord2f(1, 0)
        # P = [1920, 0, 1]
        P = [texWidth, -texHeight, d]
        glVertex3f(P[0] , P[1] , P[2] );  # K^{-1} [0, 0, 1]^T

        glTexCoord2f(1, 1)
        # P = [1920, 1080, 1]
        P = [texWidth, texHeight, d]
        # P = np.matmul(K_inv,P)
        # P = P / P[2]
        # glVertex3f(P[0] * d, P[1] * d, P[2] * d)
        glVertex3f(P[0] , P[1] , P[2] );  # K^{-1} [0, 0, 1]^T

        glTexCoord2f(0, 1)
        # P = [0, 1080, 1]
        P = [-texWidth, texHeight, d]
        # glVertex3f(P[0] * d, P[1] * d, P[2] * d)
        glVertex3f(P[0] , P[1] , P[2] );  # K^{-1} [0, 0, 1]^T
        glEnd()

        glEnable(GL_LIGHTING)
        glEnable(GL_CULL_FACE)
        glEnable(GL_DEPTH_TEST)
        glDisable(GL_TEXTURE_2D)
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renderer/glViewer.py [1008:1050]:
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    texHeight*=0.5
    texWidth*=0.5

    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)

    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
    glBegin(GL_QUADS)
    glColor3f(1.0, 1.0, 1.0)
    # d = BACKGROUND_IMAGE_PLANE_DEPTH
    d = 10

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

    glTexCoord2f(1, 0)
    # P = [1920, 0, 1]
    P = [texWidth, -texHeight, d]
    glVertex3f(P[0] , P[1] , P[2] );  # K^{-1} [0, 0, 1]^T

    glTexCoord2f(1, 1)
    # P = [1920, 1080, 1]
    P = [texWidth, texHeight, d]
    # P = np.matmul(K_inv,P)
    # P = P / P[2]
    # glVertex3f(P[0] * d, P[1] * d, P[2] * d)
    glVertex3f(P[0] , P[1] , P[2] );  # K^{-1} [0, 0, 1]^T

    glTexCoord2f(0, 1)
    # P = [0, 1080, 1]
    P = [-texWidth, texHeight, d]
    # glVertex3f(P[0] * d, P[1] * d, P[2] * d)
    glVertex3f(P[0] , P[1] , P[2] );  # K^{-1} [0, 0, 1]^T
    glEnd()

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