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Fix coordinate system conventions in point cloud renderer

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Summary:
Applying the changes added for mesh rasterization to ensure that +Y is up and +X is left so that the coordinate system is right handed.

Also updated the diagram in the docs to indicate that (0,0) is in the top left hand corner.

Reviewed By: gkioxari

Differential Revision: D20394849

fbshipit-source-id: cfb7c79090eb1f55ad38b92327a74a70a8dc541e
This commit is contained in:
Nikhila Ravi
2020-03-12 07:46:15 -07:00
committed by Facebook GitHub Bot
parent 32ad869dea
commit d01e722849
6 changed files with 74 additions and 36 deletions
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12
pytorch3d/csrc/rasterize_meshes/rasterize_meshes.cu
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@@ -208,7 +208,7 @@ __global__ void RasterizeMeshesNaiveCudaKernel(
const int n = i / (H * W); // batch index.
const int pix_idx = i % (H * W);
// Determine ordering based on axis convention.
// Reverse ordering of X and Y axes
const int yi = H - 1 - pix_idx / W;
const int xi = W - 1 - pix_idx % W;
@@ -353,7 +353,7 @@ __global__ void RasterizeMeshesBackwardCudaKernel(
const int n = t_i / (H * W); // batch index.
const int pix_idx = t_i % (H * W);
// Determine ordering based on axis convention.
// Reverse ordering of X and Y axes.
const int yi = H - 1 - pix_idx / W;
const int xi = W - 1 - pix_idx % W;
@@ -557,8 +557,8 @@ __global__ void RasterizeMeshesCoarseCudaKernel(
// need to add/subtract a half pixel to get the true extent of the bin.
// Reverse ordering of Y axis so that +Y is upwards in the image.
const int yidx = num_bins - by;
float bin_y_max = PixToNdc(yidx * bin_size - 1, H) + half_pix;
float bin_y_min = PixToNdc((yidx - 1) * bin_size, H) - half_pix;
const float bin_y_max = PixToNdc(yidx * bin_size - 1, H) + half_pix;
const float bin_y_min = PixToNdc((yidx - 1) * bin_size, H) - half_pix;
const bool y_overlap = (ymin <= bin_y_max) && (bin_y_min < ymax);
@@ -566,8 +566,8 @@ __global__ void RasterizeMeshesCoarseCudaKernel(
// X coordinate of the left and right of the bin.
// Reverse ordering of x axis so that +X is left.
const int xidx = num_bins - bx;
float bin_x_max = PixToNdc(xidx * bin_size - 1, W) + half_pix;
float bin_x_min = PixToNdc((xidx - 1) * bin_size, W) - half_pix;
const float bin_x_max = PixToNdc(xidx * bin_size - 1, W) + half_pix;
const float bin_x_min = PixToNdc((xidx - 1) * bin_size, W) - half_pix;
const bool x_overlap = (xmin <= bin_x_max) && (bin_x_min < xmax);
if (y_overlap && x_overlap) {