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Fix look_at_view_transform when object location is not (0,0,0) (#230)
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
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@ -1280,8 +1280,11 @@ def look_at_view_transform(
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dist, elev, azim, at, up, device=device
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)
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dist, elev, azim, at, up = broadcasted_args
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C = camera_position_from_spherical_angles(
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dist, elev, azim, degrees=degrees, device=device
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C = (
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camera_position_from_spherical_angles(
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dist, elev, azim, degrees=degrees, device=device
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)
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+ at
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)
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R = look_at_rotation(C, at, up, device=device)
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@ -167,6 +167,21 @@ class TestCameraHelpers(TestCaseMixin, unittest.TestCase):
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self.assertTrue(torch.allclose(R, R_default, atol=2e-7))
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self.assertTrue(torch.allclose(t, t_default, atol=2e-7))
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def test_look_at_view_transform_non_default_at_position(self):
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dist = 1.0
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elev = 0.0
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azim = 0.0
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at = ((1, 1, 1),)
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# Using passed values for dist, elev, azim, at
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R, t = look_at_view_transform(dist, elev, azim, at=at)
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# Using default dist=1.0, elev=0.0, azim=0.0
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R_default, t_default = look_at_view_transform()
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# test default = passed = expected
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# R must be the same, t must be translated by (1,-1,1) with respect to t_default
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t_trans = torch.tensor([1, -1, 1], dtype=torch.float32).view(1, 3)
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self.assertTrue(torch.allclose(R, R_default, atol=2e-7))
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self.assertTrue(torch.allclose(t, t_default + t_trans, atol=2e-7))
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def test_camera_position_from_angles_python_scalar(self):
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dist = 2.7
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elev = 90.0
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