提交测试

examples/recipes/camera/camera_transforms.py

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+# ==============================================================================================================
+# The following snippet demonstrates how to use the camera transform directly on vectors
+# ==============================================================================================================
+
+import math
+import torch
+import numpy as np
+from kaolin.render.camera import Camera
+
+device = 'cuda'
+
+camera = Camera.from_args(
+    eye=torch.tensor([4.0, 4.0, 4.0]),
+    at=torch.tensor([0.0, 0.0, 0.0]),
+    up=torch.tensor([0.0, 1.0, 0.0]),
+    fov=30 * np.pi / 180,  # In radians
+    width=800, height=800,
+    dtype=torch.float32,
+    device=device
+)
+
+print('View projection matrix')
+print(camera.view_projection_matrix())
+
+print('View matrix: world2cam')
+print(camera.view_matrix())
+
+print('Inv View matrix: cam2world')
+print(camera.inv_view_matrix())
+
+print('Projection matrix')
+print(camera.projection_matrix())
+
+vectors = torch.randn(10, 3).to(camera.device, camera.dtype)   # Create a batch of points
+
+# For ortho and perspective: this is equivalent to multiplying camera.projection_matrix() @ vectors
+# and then dividing by the w coordinate (perspective division)
+print(camera.transform(vectors))
+
+# For ray tracing we have camera.inv_transform_rays which performs multiplication with inv_view_matrix()
+# (just for the extrinsics part)
+
+# Can also access properties directly:
+# --
+# View matrix components (camera space)
+print(camera.R)
+print(camera.t)
+
+# Camera axes and position in world coordinates
+print(camera.cam_pos())
+print(camera.cam_right())
+print(camera.cam_pos())
+print(camera.cam_forward())
+
+print(camera.focal_x)
+print(camera.focal_y)
+print(camera.x0)
+print(camera.y0)
+