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create extrinsic from eye point (#65)

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Summary:
Create extrinsic parameters from eye point.
Create the rotation and translation from an eye point, look-at point and up vector.
see:
https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluLookAt.xml

It is arguably easier to initialise a camera position as a point in the world rather than an angle.
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/65

Reviewed By: bottler

Differential Revision: D20419652

Pulled By: nikhilaravi

fbshipit-source-id: 9caa1330860bb8bde1fb5c3864ed4cde836a5d19
This commit is contained in:
Dave Greenwood
2020-03-17 17:01:11 -07:00
committed by Facebook GitHub Bot
parent c9742d00b0
commit 2480723adf
2 changed files with 52 additions and 11 deletions
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30
tests/test_cameras.py
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@@ -38,6 +38,7 @@ from pytorch3d.renderer.cameras import (
camera_position_from_spherical_angles,
get_world_to_view_transform,
look_at_rotation,
look_at_view_transform,
)
from pytorch3d.transforms import Transform3d
from pytorch3d.transforms.so3 import so3_exponential_map
@@ -116,6 +117,35 @@ class TestCameraHelpers(unittest.TestCase):
torch.manual_seed(42)
np.random.seed(42)
def test_look_at_view_transform_from_eye_point_tuple(self):
dist = math.sqrt(2)
elev = math.pi / 4
azim = 0.0
eye = ((0.0, 1.0, 1.0), )
# using passed values for dist, elev, azim
R, t = look_at_view_transform(dist, elev, azim, degrees=False)
# using other values for dist, elev, azim - eye overrides
R_eye, t_eye = look_at_view_transform(dist=3, elev=2, azim=1, eye=eye)
# using only eye value
R_eye_only, t_eye_only = look_at_view_transform(eye=eye)
self.assertTrue(torch.allclose(R, R_eye, atol=2e-7))
self.assertTrue(torch.allclose(t, t_eye, atol=2e-7))
self.assertTrue(torch.allclose(R, R_eye_only, atol=2e-7))
self.assertTrue(torch.allclose(t, t_eye_only, atol=2e-7))
def test_look_at_view_transform_default_values(self):
dist = 1.0
elev = 0.0
azim = 0.0
# Using passed values for dist, elev, azim
R, t = look_at_view_transform(dist, elev, azim)
# Using default dist=1.0, elev=0.0, azim=0.0
R_default, t_default = look_at_view_transform()
# test default = passed = expected
self.assertTrue(torch.allclose(R, R_default, atol=2e-7))
self.assertTrue(torch.allclose(t, t_default, atol=2e-7))
def test_camera_position_from_angles_python_scalar(self):
dist = 2.7
elev = 90.0