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  1. 03 Sep, 2020 1 commit
    • David Novotny's avatar
      Camera alignment · 316b7778
      David Novotny authored 
      Summary:
adds `corresponding_cameras_alignment` function that estimates a similarity transformation between two sets of cameras.

The function is essential for computing camera errors in SfM pipelines.

```
Benchmark                                                   Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
CORRESPONDING_CAMERAS_ALIGNMENT_10_centers_False                32219           36211             16
CORRESPONDING_CAMERAS_ALIGNMENT_10_centers_True                 32429           36063             16
CORRESPONDING_CAMERAS_ALIGNMENT_10_extrinsics_False              5548            8782             91
CORRESPONDING_CAMERAS_ALIGNMENT_10_extrinsics_True               6153            9752             82
CORRESPONDING_CAMERAS_ALIGNMENT_100_centers_False               33344           40398             16
CORRESPONDING_CAMERAS_ALIGNMENT_100_centers_True                34528           37095             15
CORRESPONDING_CAMERAS_ALIGNMENT_100_extrinsics_False             5576            7187             90
CORRESPONDING_CAMERAS_ALIGNMENT_100_extrinsics_True              6256            9166             80
CORRESPONDING_CAMERAS_ALIGNMENT_1000_centers_False              32020           37247             16
CORRESPONDING_CAMERAS_ALIGNMENT_1000_centers_True               32776           37644             16
CORRESPONDING_CAMERAS_ALIGNMENT_1000_extrinsics_False            5336            8795             94
CORRESPONDING_CAMERAS_ALIGNMENT_1000_extrinsics_True             6266            9929             80
--------------------------------------------------------------------------------
```

Reviewed By: shapovalov

Differential Revision: D22946415

fbshipit-source-id: 8caae7ee365b304d8aa1f8133cf0dd92c35bc0dd
      316b7778
  3. 22 Aug, 2020 1 commit
    • Eduardo Henrique Arnold's avatar
      Fix look_at_view_transform when object location is not (0,0,0) (#230) · d0cec028
      Eduardo Henrique Arnold authored 
      Summary:
The look_at_view_transform did not give the correct results when the object location `at` was not (0,0,0).

The problem was on computing the cameras' location in world's coordinate `C`. It only took into account the camera position from spherical angles, but ignored the object location in the world's coordinate system. I simply modified the C tensor to take into account the object's location which is not necessarily in the origin.

I ran unit tests and all but 4 failed with the same error message: `RuntimeError: CUDA error: invalid device ordinal`. However the same happens before this patch, so I believe these errors are unrelated.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/230

Reviewed By: gkioxari

Differential Revision: D23278126

Pulled By: nikhilaravi

fbshipit-source-id: c06e891bc46de8222325ee7b37aa43cde44648e8
      d0cec028
  5. 21 Aug, 2020 1 commit
    • Georgia Gkioxari's avatar
      camera refactoring · 57a22e73
      Georgia Gkioxari authored 
      Summary:
Refactor cameras
* CamerasBase was enhanced with `transform_points_screen` that transforms projected points from NDC to screen space
* OpenGLPerspective, OpenGLOrthographic -> FoVPerspective, FoVOrthographic
* SfMPerspective, SfMOrthographic -> Perspective, Orthographic
* PerspectiveCamera can optionally be constructred with screen space parameters
* Note on Cameras and coordinate systems was added

Reviewed By: nikhilaravi

Differential Revision: D23168525

fbshipit-source-id: dd138e2b2cc7e0e0d9f34c45b8251c01266a2063
      57a22e73
  7. 04 May, 2020 1 commit
    • Nikhila Ravi's avatar
      lint fixes · 0eca74fa
      Nikhila Ravi authored 
      Summary:
Ran the linter.
TODO: need to update the linter as per D21353065.

Reviewed By: bottler

Differential Revision: D21362270

fbshipit-source-id: ad0e781de0a29f565ad25c43bc94a19b1828c020
      0eca74fa
  9. 17 Apr, 2020 1 commit
    • David Novotny's avatar
      Camera inheritance + unprojections · 7788a380
      David Novotny authored 
      Summary: Made a CameraBase class. Added `unproject_points` method for each camera class.

Reviewed By: nikhilaravi

Differential Revision: D20373602

fbshipit-source-id: 7e3da5ae420091b5fcab400a9884ef29ad7a7343
      7788a380
  11. 15 Apr, 2020 1 commit
  13. 29 Mar, 2020 1 commit
    • Patrick Labatut's avatar
      Address black + isort fbsource linter warnings · d57daa6f
      Patrick Labatut authored 
      Summary: Address black + isort fbsource linter warnings from D20558374 (previous diff)

Reviewed By: nikhilaravi

Differential Revision: D20558373

fbshipit-source-id: d3607de4a01fb24c0d5269634563a7914bddf1c8
      d57daa6f
  15. 23 Mar, 2020 1 commit
    • Jeremy Reizenstein's avatar
      use assertClose · 595aca27
      Jeremy Reizenstein authored 
      Summary: use assertClose in some tests, which enforces shape equality. Fixes some small problems, including graph_conv on an empty graph.

Reviewed By: nikhilaravi

Differential Revision: D20556912

fbshipit-source-id: 60a61eafe3c03ce0f6c9c1a842685708fb10ac5b
      595aca27
  17. 22 Mar, 2020 1 commit
    • Georgia Gkioxari's avatar
      run lint · 03f441e7
      Georgia Gkioxari authored 
      Summary: Run `/dev/linter.sh` to fix linting

Reviewed By: nikhilaravi

Differential Revision: D20584037

fbshipit-source-id: 69e45b33d22e3d54b6d37c3c35580bb3e9dc50a5
      03f441e7
  19. 18 Mar, 2020 1 commit
  21. 12 Mar, 2020 1 commit
    • Patrick Labatut's avatar
      Remove shebang line when not strictly required · 3c71ab64
      Patrick Labatut authored 
      Summary: The shebang line `#!<path to interpreter>` is only required for Python scripts, so remove it on source files for class or function definitions. Additionally explicitly mark as executable the actual Python scripts in the codebase.

Reviewed By: nikhilaravi

Differential Revision: D20095778

fbshipit-source-id: d312599fba485e978a243292f88a180d71e1b55a
      3c71ab64
  23. 06 Mar, 2020 1 commit
    • Nikhila Ravi's avatar
      Fix coordinate system conventions in renderer · 15c72be4
      Nikhila Ravi authored 
      Summary:
## Updates

- Defined the world and camera coordinates according to this figure. The world coordinates are defined as having +Y up, +X left and +Z in.

{F230888499}

- Removed all flipping from blending functions.
- Updated the rasterizer to return images with +Y up and +X left.
- Updated all the mesh rasterizer tests
    - The expected values are now defined in terms of the default +Y up, +X left
    - Added tests where the triangles in the meshes are non symmetrical so that it is clear which direction +X and +Y are

## Questions:
- Should we have **scene settings** instead of raster settings?
    - To be more correct we should be [z clipping in the rasterizer based on the far/near clipping planes](https://github.com/ShichenLiu/SoftRas/blob/master/soft_renderer/cuda/soft_rasterize_cuda_kernel.cu#L400) - these values are also required in the blending functions so should we make these scene level parameters and have a scene settings tuple which is available to the rasterizer and shader?

Reviewed By: gkioxari

Differential Revision: D20208604

fbshipit-source-id: 55787301b1bffa0afa9618f0a0886cc681da51f3
      15c72be4
  25. 23 Jan, 2020 1 commit