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camera refactoring

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Summary:
Refactor cameras
* CamerasBase was enhanced with `transform_points_screen` that transforms projected points from NDC to screen space
* OpenGLPerspective, OpenGLOrthographic -> FoVPerspective, FoVOrthographic
* SfMPerspective, SfMOrthographic -> Perspective, Orthographic
* PerspectiveCamera can optionally be constructred with screen space parameters
* Note on Cameras and coordinate systems was added

Reviewed By: nikhilaravi

Differential Revision: D23168525

fbshipit-source-id: dd138e2b2cc7e0e0d9f34c45b8251c01266a2063
This commit is contained in:
Georgia Gkioxari
2020-08-20 22:20:41 -07:00
committed by Facebook GitHub Bot
parent 9242e7e65d
commit 57a22e7306
65 changed files with 896 additions and 279 deletions
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10
docs/notes/renderer_getting_started.md
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@@ -39,7 +39,7 @@ Rendering requires transformations between several different coordinate frames:
<img src="assets/transformations_overview.png" width="1000">
For example, given a teapot mesh, the world coordinate frame, camera coordiante frame and image are show in the figure below. Note that the world and camera coordinate frames have the +z direction pointing in to the page.
For example, given a teapot mesh, the world coordinate frame, camera coordiante frame and image are show in the figure below. Note that the world and camera coordinate frames have the +z direction pointing in to the page.
<img src="assets/world_camera_image.png" width="1000">
@@ -47,8 +47,8 @@ For example, given a teapot mesh, the world coordinate frame, camera coordiante
**NOTE: PyTorch3D vs OpenGL**
While we tried to emulate several aspects of OpenGL, there are differences in the coordinate frame conventions.
- The default world coordinate frame in PyTorch3D has +Z pointing in to the screen whereas in OpenGL, +Z is pointing out of the screen. Both are right handed.
While we tried to emulate several aspects of OpenGL, there are differences in the coordinate frame conventions.
- The default world coordinate frame in PyTorch3D has +Z pointing in to the screen whereas in OpenGL, +Z is pointing out of the screen. Both are right handed.
- The NDC coordinate system in PyTorch3D is **right-handed** compared with a **left-handed** NDC coordinate system in OpenGL (the projection matrix switches the handedness).
<img align="center" src="assets/opengl_coordframes.png" width="300">
@@ -61,14 +61,14 @@ A renderer in PyTorch3D is composed of a **rasterizer** and a **shader**. Create
```
# Imports
from pytorch3d.renderer import (
OpenGLPerspectiveCameras, look_at_view_transform,
FoVPerspectiveCameras, look_at_view_transform,
RasterizationSettings, BlendParams,
MeshRenderer, MeshRasterizer, HardPhongShader
)
# Initialize an OpenGL perspective camera.
R, T = look_at_view_transform(2.7, 10, 20)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
cameras = FoVPerspectiveCameras(device=device, R=R, T=T)
# Define the settings for rasterization and shading. Here we set the output image to be of size
# 512x512. As we are rendering images for visualization purposes only we will set faces_per_pixel=1