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Bugfix - normalize emitted ray directions after substraction

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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
This commit is contained in:
David Novotny 2022-10-31 14:00:49 -07:00 committed by Facebook GitHub Bot
parent bea84a6fcd
commit eff0aad15a
1 changed files with 3 additions and 2 deletions
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5
pytorch3d/renderer/implicit/raysampling.py
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@ -670,12 +670,13 @@ def _xy_to_ray_bundle(
# directions are the differences between the two planes of points
rays_directions_world = rays_plane_2_world - rays_plane_1_world
if unit_directions:
rays_directions_world = F.normalize(rays_directions_world, dim=-1)
# origins are given by subtracting the ray directions from the first plane
rays_origins_world = rays_plane_1_world - rays_directions_world
if unit_directions:
rays_directions_world = F.normalize(rays_directions_world, dim=-1)
return RayBundle(
rays_origins_world.view(batch_size, *spatial_size, 3),
rays_directions_world.view(batch_size, *spatial_size, 3),