Updates to cameras and rasterizer to infer camera type correctly

Summary: Small update to the cameras and rasterizer to correctly infer the type of camera (perspective vs orthographic).

Reviewed By: jcjohnson

Differential Revision: D26267225

fbshipit-source-id: a58ed3bc2ab25553d2a4307c734204c1d41b5176
This commit is contained in:
Nikhila Ravi 2021-02-08 14:30:55 -08:00 committed by Facebook GitHub Bot
parent 39f49c22cd
commit 838b73d3b6
5 changed files with 65 additions and 11 deletions

View File

@ -42,15 +42,16 @@ class CamerasBase(TensorProperties):
It defines methods that are common to all camera models:
- `get_camera_center` that returns the optical center of the camera in
world coordinates
world coordinates
- `get_world_to_view_transform` which returns a 3D transform from
world coordinates to the camera view coordinates (R, T)
world coordinates to the camera view coordinates (R, T)
- `get_full_projection_transform` which composes the projection
transform (P) with the world-to-view transform (R, T)
transform (P) with the world-to-view transform (R, T)
- `transform_points` which takes a set of input points in world coordinates and
projects to NDC coordinates ranging from [-1, -1, znear] to [+1, +1, zfar].
projects to NDC coordinates ranging from [-1, -1, znear] to [+1, +1, zfar].
- `transform_points_screen` which takes a set of input points in world coordinates and
projects them to the screen coordinates ranging from [0, 0, znear] to [W-1, H-1, zfar]
projects them to the screen coordinates ranging from
[0, 0, znear] to [W-1, H-1, zfar]
For each new camera, one should implement the `get_projection_transform`
routine that returns the mapping from camera view coordinates to NDC coordinates.
@ -268,6 +269,12 @@ class CamerasBase(TensorProperties):
other = cam_type(device=self.device)
return super().clone(other)
def is_perspective(self):
raise NotImplementedError()
def get_znear(self):
return self.znear if hasattr(self, "znear") else None
############################################################
# Field of View Camera Classes #
@ -534,6 +541,9 @@ class FoVPerspectiveCameras(CamerasBase):
unprojection_transform = to_ndc_transform.inverse()
return unprojection_transform.transform_points(xy_sdepth)
def is_perspective(self):
return True
def OpenGLOrthographicCameras(
znear=1.0,
@ -752,6 +762,9 @@ class FoVOrthographicCameras(CamerasBase):
unprojection_transform = to_ndc_transform.inverse()
return unprojection_transform.transform_points(xy_sdepth)
def is_perspective(self):
return False
############################################################
# MultiView Camera Classes #
@ -927,6 +940,9 @@ class PerspectiveCameras(CamerasBase):
)
return unprojection_transform.transform_points(xy_inv_depth)
def is_perspective(self):
return True
def SfMOrthographicCameras(
focal_length=1.0, principal_point=((0.0, 0.0),), R=_R, T=_T, device="cpu"
@ -1086,6 +1102,9 @@ class OrthographicCameras(CamerasBase):
unprojection_transform = to_ndc_transform.inverse()
return unprojection_transform.transform_points(xy_depth)
def is_perspective(self):
return False
################################################
# Helper functions for cameras #

View File

@ -139,8 +139,13 @@ class MeshRasterizer(nn.Module):
if clip_barycentric_coords is None:
clip_barycentric_coords = raster_settings.blur_radius > 0.0
# TODO(jcjohns): Should we try to set perspective_correct automatically
# based on the type of the camera?
# If not specified, infer perspective_correct from the camera
cameras = kwargs.get("cameras", self.cameras)
if raster_settings.perspective_correct is not None:
perspective_correct = raster_settings.perspective_correct
else:
perspective_correct = cameras.is_perspective()
pix_to_face, zbuf, bary_coords, dists = rasterize_meshes(
meshes_screen,
image_size=raster_settings.image_size,
@ -148,7 +153,7 @@ class MeshRasterizer(nn.Module):
faces_per_pixel=raster_settings.faces_per_pixel,
bin_size=raster_settings.bin_size,
max_faces_per_bin=raster_settings.max_faces_per_bin,
perspective_correct=raster_settings.perspective_correct,
perspective_correct=perspective_correct,
clip_barycentric_coords=clip_barycentric_coords,
cull_backfaces=raster_settings.cull_backfaces,
)

View File

@ -794,6 +794,11 @@ class TestFoVPerspectiveProjection(TestCaseMixin, unittest.TestCase):
new_points = cam.transform_points(points)
self.assertClose(new_points, projected_points)
def test_perspective_type(self):
cam = FoVPerspectiveCameras(znear=1.0, zfar=10.0, fov=60.0)
self.assertTrue(cam.is_perspective())
self.assertEquals(cam.get_znear(), 1.0)
############################################################
# FoVOrthographic Camera #
@ -885,6 +890,11 @@ class TestFoVOrthographicProjection(TestCaseMixin, unittest.TestCase):
)
self.assertClose(scale_grad, grad_scale)
def test_perspective_type(self):
cam = FoVOrthographicCameras(znear=1.0, zfar=10.0)
self.assertFalse(cam.is_perspective())
self.assertEquals(cam.get_znear(), 1.0)
############################################################
# Orthographic Camera #
@ -937,6 +947,11 @@ class TestOrthographicProjection(TestCaseMixin, unittest.TestCase):
v1 = P.transform_points(vertices)
self.assertClose(v1, projected_verts)
def test_perspective_type(self):
cam = OrthographicCameras(focal_length=5.0, principal_point=((2.5, 2.5),))
self.assertFalse(cam.is_perspective())
self.assertEquals(cam.get_znear(), None)
############################################################
# Perspective Camera #
@ -983,3 +998,8 @@ class TestPerspectiveProjection(TestCaseMixin, unittest.TestCase):
v1 = P.transform_points(vertices)
v2 = sfm_perspective_project_naive(vertices, fx=2.0, fy=2.0, p0x=2.5, p0y=3.5)
self.assertClose(v1, v2, atol=1e-6)
def test_perspective_type(self):
cam = PerspectiveCameras(focal_length=5.0, principal_point=((2.5, 2.5),))
self.assertTrue(cam.is_perspective())
self.assertEquals(cam.get_znear(), None)

View File

@ -242,7 +242,10 @@ class TestRenderImplicit(TestCaseMixin, unittest.TestCase):
rasterizer=MeshRasterizer(
cameras=cameras_randomized,
raster_settings=RasterizationSettings(
image_size=image_size, blur_radius=1e-3, faces_per_pixel=10
image_size=image_size,
blur_radius=1e-3,
faces_per_pixel=10,
perspective_correct=False,
),
),
shader=SoftPhongShader(

View File

@ -500,6 +500,7 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
blur_radius=np.log(1.0 / 1e-4 - 1.0) * blend_params.sigma,
faces_per_pixel=100,
clip_barycentric_coords=True,
perspective_correct=False,
)
# Load reference image
@ -844,7 +845,10 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
cameras = FoVPerspectiveCameras(device=device, R=R, T=T)
raster_settings = RasterizationSettings(
image_size=512, blur_radius=0.0, faces_per_pixel=1
image_size=512,
blur_radius=0.0,
faces_per_pixel=1,
perspective_correct=False,
)
lights = PointLights(
@ -919,7 +923,10 @@ class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
R, T = look_at_view_transform(2.7, 0.0, 0.0)
cameras = FoVPerspectiveCameras(device=device, R=R, T=T)
raster_settings = RasterizationSettings(
image_size=512, blur_radius=0.0, faces_per_pixel=1
image_size=512,
blur_radius=0.0,
faces_per_pixel=1,
perspective_correct=False,
)
# Init shader settings