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Fix look_at_view_transform when object location is not (0,0,0) (#230)

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Summary:
The look_at_view_transform did not give the correct results when the object location `at` was not (0,0,0).

The problem was on computing the cameras' location in world's coordinate `C`. It only took into account the camera position from spherical angles, but ignored the object location in the world's coordinate system. I simply modified the C tensor to take into account the object's location which is not necessarily in the origin.

I ran unit tests and all but 4 failed with the same error message: `RuntimeError: CUDA error: invalid device ordinal`. However the same happens before this patch, so I believe these errors are unrelated.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/230

Reviewed By: gkioxari

Differential Revision: D23278126

Pulled By: nikhilaravi

fbshipit-source-id: c06e891bc46de8222325ee7b37aa43cde44648e8
This commit is contained in:
Eduardo Henrique Arnold 2020-08-21 23:42:40 -07:00 committed by Facebook GitHub Bot
parent 778383eef7
commit d0cec028c7
2 changed files with 20 additions and 2 deletions
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7
pytorch3d/renderer/cameras.py
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@ -1280,8 +1280,11 @@ def look_at_view_transform(
dist, elev, azim, at, up, device=device
)
dist, elev, azim, at, up = broadcasted_args
C = camera_position_from_spherical_angles(
dist, elev, azim, degrees=degrees, device=device
C = (
camera_position_from_spherical_angles(
dist, elev, azim, degrees=degrees, device=device
)
+ at
)
R = look_at_rotation(C, at, up, device=device)

15
tests/test_cameras.py
View File

@ -167,6 +167,21 @@ class TestCameraHelpers(TestCaseMixin, unittest.TestCase):
self.assertTrue(torch.allclose(R, R_default, atol=2e-7))
self.assertTrue(torch.allclose(t, t_default, atol=2e-7))
def test_look_at_view_transform_non_default_at_position(self):
dist = 1.0
elev = 0.0
azim = 0.0
at = ((1, 1, 1),)
# Using passed values for dist, elev, azim, at
R, t = look_at_view_transform(dist, elev, azim, at=at)
# Using default dist=1.0, elev=0.0, azim=0.0
R_default, t_default = look_at_view_transform()
# test default = passed = expected
# R must be the same, t must be translated by (1,-1,1) with respect to t_default
t_trans = torch.tensor([1, -1, 1], dtype=torch.float32).view(1, 3)
self.assertTrue(torch.allclose(R, R_default, atol=2e-7))
self.assertTrue(torch.allclose(t, t_default + t_trans, atol=2e-7))
def test_camera_position_from_angles_python_scalar(self):
dist = 2.7
elev = 90.0