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Use rotation matrices for OpenCV / PyTorch3D conversions

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Summary: Use rotation matrices for OpenCV / PyTorch3D conversions: this avoids hiding issues with conversions to / from axis-angle vectors and ensure new conversion functions have a consistent interface.

Reviewed By: bottler, classner

Differential Revision: D29634099

fbshipit-source-id: 40b28357914eb563fedea60a965dcf69e848ccfa
This commit is contained in:
Patrick Labatut
2021-07-09 10:02:10 -07:00
committed by Facebook GitHub Bot
parent 44d2a9b623
commit fef5bcd8f9
2 changed files with 23 additions and 18 deletions
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9
tests/test_camera_conversions.py
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@@ -129,16 +129,15 @@ class TestCameraConversions(TestCaseMixin, unittest.TestCase):
)
camera_matrix[:, :2, 2] = principal_point
rvec = so3_log_map(R)
pts = torch.nn.functional.normalize(torch.randn(4, 1000, 3), dim=-1)
# project the 3D points with the opencv projection function
rvec = so3_log_map(R)
pts_proj_opencv = cv2_project_points(pts, rvec, tvec, camera_matrix)
# make the pytorch3d cameras
cameras_opencv_to_pytorch3d = cameras_from_opencv_projection(
rvec, tvec, camera_matrix, image_size
R, tvec, camera_matrix, image_size
)
# project the 3D points with converted cameras
@@ -155,9 +154,9 @@ class TestCameraConversions(TestCaseMixin, unittest.TestCase):
)
# Check the inverse.
rvec_i, tvec_i, camera_matrix_i = opencv_from_cameras_projection(
R_i, tvec_i, camera_matrix_i = opencv_from_cameras_projection(
cameras_opencv_to_pytorch3d, image_size
)
self.assertClose(rvec, rvec_i)
self.assertClose(R, R_i)
self.assertClose(tvec, tvec_i)
self.assertClose(camera_matrix, camera_matrix_i)