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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
tests/test_render_points.py
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@@ -14,8 +14,8 @@ import torch
from common_testing import TestCaseMixin, load_rgb_image
from PIL import Image
from pytorch3d.renderer.cameras import (
OpenGLOrthographicCameras,
OpenGLPerspectiveCameras,
FoVOrthographicCameras,
FoVPerspectiveCameras,
look_at_view_transform,
)
from pytorch3d.renderer.points import (
@@ -47,7 +47,7 @@ class TestRenderPoints(TestCaseMixin, unittest.TestCase):
points=verts_padded, features=torch.ones_like(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
)
@@ -97,7 +97,7 @@ class TestRenderPoints(TestCaseMixin, unittest.TestCase):
point_cloud = Pointclouds(points=[verts], features=[rgb_feats])
R, T = look_at_view_transform(20, 10, 0)
cameras = OpenGLOrthographicCameras(device=device, R=R, T=T, znear=0.01)
cameras = FoVOrthographicCameras(device=device, R=R, T=T, znear=0.01)
raster_settings = PointsRasterizationSettings(
# Set image_size so it is not a multiple of 16 (min bin_size)
@@ -150,7 +150,7 @@ class TestRenderPoints(TestCaseMixin, unittest.TestCase):
batch_size = 20
pointclouds = pointclouds.extend(batch_size)
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
)