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Bugfix - normalize emitted ray directions after substraction
Summary: The bug lead to non-coinciding origins of the rays emitted from perspective cameras when unit_directions=True Reviewed By: bottler Differential Revision: D40865610 fbshipit-source-id: 398598e9e919b53e6bea179f0400e735bbb5b625
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@ -670,12 +670,13 @@ def _xy_to_ray_bundle(
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# directions are the differences between the two planes of points
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rays_directions_world = rays_plane_2_world - rays_plane_1_world
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if unit_directions:
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rays_directions_world = F.normalize(rays_directions_world, dim=-1)
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# origins are given by subtracting the ray directions from the first plane
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rays_origins_world = rays_plane_1_world - rays_directions_world
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if unit_directions:
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rays_directions_world = F.normalize(rays_directions_world, dim=-1)
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return RayBundle(
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rays_origins_world.view(batch_size, *spatial_size, 3),
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rays_directions_world.view(batch_size, *spatial_size, 3),
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