diff --git a/css/main.css b/css/main.css
index e91e7f45..a0384b60 100644
--- a/css/main.css
+++ b/css/main.css
@@ -1 +1 @@
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diff --git a/docs/cameras.html b/docs/cameras.html
index 8ee3bed1..95494cdb 100644
--- a/docs/cameras.html
+++ b/docs/cameras.html
@@ -74,10 +74,11 @@ This is the system that has its origin on the image plane and the Z
This is the normalized coordinate system that confines in a volume the rendered part of the object/scene. Also known as view volume. For square images, under the PyTorch3D convention, (+1, +1, znear) is the top left near corner, and (-1, -1, zfar) is the bottom right far corner of the volume. For non-square images, the side of the volume in XY with the smallest length ranges from [-1, 1] while the larger side from [-s, s], where s is the aspect ratio and s > 1 (larger divided by smaller side).
The transformation from view to NDC happens after applying the camera projection matrix (P).
Screen coordinate system
-This is another representation of the view volume with the XY coordinates defined in pixel space instead of a normalized space.
+This is another representation of the view volume with the XY coordinates defined in pixel space instead of a normalized space. (0,0) is the top left corner of the top left pixel
+and (W,H) is the bottom right corner of the bottom right pixel.
An illustration of the 4 coordinate systems is shown below
-
+
Defining Cameras in PyTorch3D
Cameras in PyTorch3D transform an object/scene from world to view by first transforming the object/scene to view (via transforms R and T) and then projecting the 3D object/scene to a normalized space via the projection matrix P = K[R | T], where K is the intrinsic matrix. The camera parameters in K define the normalized space. If users define the camera parameters in NDC space, then the transform projects points to NDC. If the camera parameters are defined in screen space, the transformed points are in screen space.
Note that the base CamerasBase class makes no assumptions about the coordinate systems. All the above transforms are geometric transforms defined purely by R, T and K. This means that users can define cameras in any coordinate system and for any transforms. The method transform_points will apply K , R and T to the input points as a simple matrix transformation. However, if users wish to use cameras with the PyTorch3D renderer, they need to abide to PyTorch3D's coordinate system assumptions (read below).
The relationship between screen and NDC specifications of a camera's focal_length and principal_point is given by the following equations, where s = min(image_width, image_height).
The transformation of x and y coordinates between screen and NDC is exactly the same as for px and py.
-
fx_ndc = fx_screen * 2.0 / (s - 1)
-fy_ndc = fy_screen * 2.0 / (s - 1)
+
