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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/tutorials/render_textured_meshes.ipynb
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@@ -90,7 +90,7 @@
"from pytorch3d.structures import Meshes, Textures\n",
"from pytorch3d.renderer import (\n",
" look_at_view_transform,\n",
" OpenGLPerspectiveCameras, \n",
" FoVPerspectiveCameras, \n",
" PointLights, \n",
" DirectionalLights, \n",
" Materials, \n",
@@ -286,11 +286,11 @@
},
"outputs": [],
"source": [
"# Initialize an OpenGL perspective camera.\n",
"# Initialize a camera.\n",
"# With world coordinates +Y up, +X left and +Z in, the front of the cow is facing the -Z direction. \n",
"# So we move the camera by 180 in the azimuth direction so it is facing the front of the cow. \n",
"R, T = look_at_view_transform(2.7, 0, 180) \n",
"cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)\n",
"cameras = FoVPerspectiveCameras(device=device, R=R, T=T)\n",
"\n",
"# Define the settings for rasterization and shading. Here we set the output image to be of size\n",
"# 512x512. As we are rendering images for visualization purposes only we will set faces_per_pixel=1\n",
@@ -444,7 +444,7 @@
"source": [
"# Rotate the object by increasing the elevation and azimuth angles\n",
"R, T = look_at_view_transform(dist=2.7, elev=10, azim=-150)\n",
"cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)\n",
"cameras = FoVPerspectiveCameras(device=device, R=R, T=T)\n",
"\n",
"# Move the light location so the light is shining on the cow's face. \n",
"lights.location = torch.tensor([[2.0, 2.0, -2.0]], device=device)\n",
@@ -519,7 +519,7 @@
"# view the camera from the same distance and specify dist=2.7 as a float,\n",
"# and then specify elevation and azimuth angles for each viewpoint as tensors. \n",
"R, T = look_at_view_transform(dist=2.7, elev=elev, azim=azim)\n",
"cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)\n",
"cameras = FoVPerspectiveCameras(device=device, R=R, T=T)\n",
"\n",
"# Move the light back in front of the cow which is facing the -z direction.\n",
"lights.location = torch.tensor([[0.0, 0.0, -3.0]], device=device)"