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Add BlenderCamera

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Summary: Adding BlenderCamera (for rendering with R2N2 Blender transformations in the next diff).

Reviewed By: nikhilaravi

Differential Revision: D22462515

fbshipit-source-id: 4b40ee9bba8b6d56788dd3c723036ec704668153
This commit is contained in:
Luya Gao
2020-07-23 10:15:50 -07:00
committed by Facebook GitHub Bot
parent 483e538dae
commit 722c2b7149
4 changed files with 55 additions and 3 deletions
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23
tests/test_r2n2.py
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@@ -11,13 +11,16 @@ import numpy as np
import torch
from common_testing import TestCaseMixin, load_rgb_image
from PIL import Image
from pytorch3d.datasets import R2N2, collate_batched_meshes
from pytorch3d.datasets import R2N2, BlenderCamera, collate_batched_meshes
from pytorch3d.renderer import (
OpenGLPerspectiveCameras,
PointLights,
RasterizationSettings,
look_at_view_transform,
)
from pytorch3d.renderer.cameras import get_world_to_view_transform
from pytorch3d.transforms import Transform3d
from pytorch3d.transforms.so3 import so3_exponential_map
from torch.utils.data import DataLoader
@@ -258,3 +261,21 @@ class TestR2N2(TestCaseMixin, unittest.TestCase):
"test_r2n2_render_by_categories_%s.png" % idx, DATA_DIR
)
self.assertClose(mixed_rgb, image_ref, atol=0.05)
def test_blender_camera(self):
"""
Test BlenderCamera.
"""
# Test get_world_to_view_transform.
T = torch.randn(10, 3)
R = so3_exponential_map(torch.randn(10, 3) * 3.0)
RT = get_world_to_view_transform(R=R, T=T)
cam = BlenderCamera(R=R, T=T)
RT_class = cam.get_world_to_view_transform()
self.assertTrue(torch.allclose(RT.get_matrix(), RT_class.get_matrix()))
self.assertTrue(isinstance(RT, Transform3d))
# Test getting camera center.
C = cam.get_camera_center()
C_ = -torch.bmm(R, T[:, :, None])[:, :, 0]
self.assertTrue(torch.allclose(C, C_, atol=1e-05))