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NDC/screen cameras API fix, compatibility with renderer

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Summary:
API fix for NDC/screen cameras and compatibility with PyTorch3D renderers.

With this new fix:
* Users can define cameras and `transform_points` under any coordinate system conventions. The transformation applies the camera K and RT to the input points, not regarding for PyTorch3D conventions. So this makes cameras completely independent from PyTorch3D renderer.

* Cameras can be defined either in NDC space or screen space. For existing ones, FoV cameras are in NDC space. Perspective/Orthographic can be defined in NDC or screen space.

* The interface with PyTorch3D renderers happens through `transform_points_ndc` which transforms points to the NDC space and assumes that input points are provided according to PyTorch3D conventions.

* Similarly, `transform_points_screen` transforms points to screen space and again assumes that input points are under PyTorch3D conventions.

* For Orthographic/Perspective cameras, if they are defined in screen space, the `get_ndc_camera_transform` allows points to be converted to NDC for use for the renderers.

Reviewed By: nikhilaravi

Differential Revision: D26932657

fbshipit-source-id: 1a964e3e7caa54d10c792cf39c4d527ba2fb2e79
This commit is contained in:
Georgia Gkioxari
2021-08-02 01:00:03 -07:00
committed by Facebook GitHub Bot
parent 9a14f54e8b
commit 0c32f094af
6 changed files with 503 additions and 223 deletions
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15
tests/test_render_meshes.py
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@@ -255,9 +255,20 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
device=device,
R=R,
T=T,
principal_point=((256.0, 256.0),),
focal_length=((256.0, 256.0),),
principal_point=(
(
(512.0 - 1.0) / 2.0,
(512.0 - 1.0) / 2.0,
),
),
focal_length=(
(
(512.0 - 1.0) / 2.0,
(512.0 - 1.0) / 2.0,
),
),
image_size=((512, 512),),
in_ndc=False,
)
rasterizer = MeshRasterizer(
cameras=cameras, raster_settings=raster_settings