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Fix coordinate system conventions in renderer

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Summary:
## Updates

- Defined the world and camera coordinates according to this figure. The world coordinates are defined as having +Y up, +X left and +Z in.

{F230888499}

- Removed all flipping from blending functions.
- Updated the rasterizer to return images with +Y up and +X left.
- Updated all the mesh rasterizer tests
    - The expected values are now defined in terms of the default +Y up, +X left
    - Added tests where the triangles in the meshes are non symmetrical so that it is clear which direction +X and +Y are

## Questions:
- Should we have **scene settings** instead of raster settings?
    - To be more correct we should be [z clipping in the rasterizer based on the far/near clipping planes](https://github.com/ShichenLiu/SoftRas/blob/master/soft_renderer/cuda/soft_rasterize_cuda_kernel.cu#L400) - these values are also required in the blending functions so should we make these scene level parameters and have a scene settings tuple which is available to the rasterizer and shader?

Reviewed By: gkioxari

Differential Revision: D20208604

fbshipit-source-id: 55787301b1bffa0afa9618f0a0886cc681da51f3
This commit is contained in:
Nikhila Ravi
2020-03-06 06:48:31 -08:00
committed by Facebook Github Bot
parent 767d68a3af
commit 15c72be444
27 changed files with 526 additions and 486 deletions
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8
tests/test_cameras.py
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@@ -173,12 +173,12 @@ class TestCameraHelpers(unittest.TestCase):
grad_dist = (
torch.cos(elev) * torch.sin(azim)
+ torch.sin(elev)
- torch.cos(elev) * torch.cos(azim)
+ torch.cos(elev) * torch.cos(azim)
)
grad_elev = (
-torch.sin(elev) * torch.sin(azim)
+ torch.cos(elev)
+ torch.sin(elev) * torch.cos(azim)
- torch.sin(elev) * torch.cos(azim)
)
grad_elev = dist * (math.pi / 180.0) * grad_elev
self.assertTrue(torch.allclose(elev_grad, grad_elev))
@@ -232,12 +232,12 @@ class TestCameraHelpers(unittest.TestCase):
grad_dist = (
torch.cos(elev) * torch.sin(azim)
+ torch.sin(elev)
- torch.cos(elev) * torch.cos(azim)
+ torch.cos(elev) * torch.cos(azim)
)
grad_elev = (
-torch.sin(elev) * torch.sin(azim)
+ torch.cos(elev)
+ torch.sin(elev) * torch.cos(azim)
- torch.sin(elev) * torch.cos(azim)
)
grad_elev = (dist * (math.pi / 180.0) * grad_elev).sum()
self.assertTrue(torch.allclose(elev_grad, grad_elev))