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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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6
tests/test_rasterizer.py
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@@ -7,7 +7,7 @@ from pathlib import Path
import numpy as np
import torch
from PIL import Image
from pytorch3d.renderer.cameras import OpenGLPerspectiveCameras, look_at_view_transform
from pytorch3d.renderer.cameras import FoVPerspectiveCameras, look_at_view_transform
from pytorch3d.renderer.mesh.rasterizer import MeshRasterizer, RasterizationSettings
from pytorch3d.renderer.points.rasterizer import (
PointsRasterizationSettings,
@@ -43,7 +43,7 @@ class TestMeshRasterizer(unittest.TestCase):
# Init rasterizer settings
R, T = look_at_view_transform(2.7, 0, 0)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
cameras = FoVPerspectiveCameras(device=device, R=R, T=T)
raster_settings = RasterizationSettings(
image_size=512, blur_radius=0.0, faces_per_pixel=1, bin_size=0
)
@@ -148,7 +148,7 @@ class TestPointRasterizer(unittest.TestCase):
verts_padded[..., 0] += 0.2
pointclouds = Pointclouds(points=verts_padded)
R, T = look_at_view_transform(2.7, 0.0, 0.0)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
cameras = FoVPerspectiveCameras(device=device, R=R, T=T)
raster_settings = PointsRasterizationSettings(
image_size=256, radius=5e-2, points_per_pixel=1
)