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Fix look_at corner case

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Summary: When the camera is vertically oriented, calculating the look_at x-axis (also known as the "right" vector) does not succeed, resulting in the x-axis being placed at the origin. Adds a check to correctly calculate the x-axis if this case occurs.

Reviewed By: nikhilaravi, sbranson

Differential Revision: D23511859

fbshipit-source-id: ee5145cdbecdbe2f7c7d288588bd0899480cb327
This commit is contained in:
Amitav Baruah
2020-09-10 12:52:13 -07:00
committed by Facebook GitHub Bot
parent f8ea5906c0
commit eb517dd70b
2 changed files with 20 additions and 0 deletions
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6
pytorch3d/renderer/cameras.py
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@@ -1226,6 +1226,12 @@ def look_at_rotation(
z_axis = F.normalize(at - camera_position, eps=1e-5)
x_axis = F.normalize(torch.cross(up, z_axis, dim=1), eps=1e-5)
y_axis = F.normalize(torch.cross(z_axis, x_axis, dim=1), eps=1e-5)
is_close = torch.isclose(x_axis, torch.tensor(0.0), atol=5e-3).all(
dim=1, keepdim=True
)
if is_close.any():
replacement = F.normalize(torch.cross(y_axis, z_axis, dim=1), eps=1e-5)
x_axis = torch.where(is_close, replacement, x_axis)
R = torch.cat((x_axis[:, None, :], y_axis[:, None, :], z_axis[:, None, :]), dim=1)
return R.transpose(1, 2)