Summary:
For non square image, the NDC space in pytorch3d is not square [-1, 1]. Instead, it is [-1, 1] for the smallest side, and [-u, u] for the largest side, where u > 1. This behavior is followed by the pytorch3d renderer.
See the function `get_ndc_to_screen_transform` for a example.
Without this fix, the rendering result is not correct using the converted pytorch3d-camera from a opencv-camera on non square images.
This fix also helps the `transform_points_screen` function delivers consistent results with opencv projection for the converted pytorch3d-camera.
Reviewed By: classner
Differential Revision: D31366775
fbshipit-source-id: 8858ae7b5cf5c0a4af5a2af40a1358b2fe4cf74b
Summary: This commit adds a new camera conversion function for OpenCV style parameters to Pulsar parameters to the library. Using this function it addresses a bug reported here: https://fb.workplace.com/groups/629644647557365/posts/1079637302558095, by using the PyTorch3D->OpenCV->Pulsar chain instead of the original direct conversion function. Both conversions are well-tested and an additional test for the full chain has been added, resulting in a more reliable solution requiring less code.
Reviewed By: patricklabatut
Differential Revision: D29322106
fbshipit-source-id: 13df13c2e48f628f75d9f44f19ff7f1646fb7ebd
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
Summary: Deprecate the `so3_exponential_map()` function in favor of its alias `so3_exp_map()`: this aligns with the naming of `so3_log_map()` and the recently introduced `se3_exp_map()` / `se3_log_map()` pair.
Reviewed By: bottler
Differential Revision: D29329966
fbshipit-source-id: b6f60b9e86b2995f70b1fbeb16f9feea05c55de9
Summary: This diff implements the inverse of D28992470 (8006842f2a): a function to extract OpenCV convention camera parameters from a PyTorch3D `PerspectiveCameras` object. This is the first part of the new PyTorch3d<>OpenCV<>Pulsar conversion functions.
Reviewed By: patricklabatut
Differential Revision: D29278411
fbshipit-source-id: 68d4555b508dbe8685d8239443f839d194cc2484
Summary: Implements a conversion function between OpenCV and PyTorch3D cameras.
Reviewed By: patricklabatut
Differential Revision: D28992470
fbshipit-source-id: dbcc9f213ec293c2f6938261c704aea09aad3c90
