Add OpenCV standard to coordinate frame conversions

Signed-off-by: Claus Smitt <[email protected]>
NVIDIAGameWorks · May 9, 2023 · 77d78d2 · 77d78d2
1 parent 27efa0f
commit 77d78d2
Showing 1 changed file with 16 additions and 0 deletions.
diff --git a/kaolin/render/camera/coordinates.py b/kaolin/render/camera/coordinates.py
@@ -61,3 +61,19 @@ def opengl_coords():
     return torch.tensor([[1, 0, 0],
                          [0, 1, 0],
                          [0, 0, 1]])
+
+def opencv_coords():
+    """OpenCV camera coordinate convension, with Z axis looking outwards from the
+    camera sensor frame::
+
+         X<---------|
+                   /|
+                 Z  |
+                    |
+                    ⌄
+                    Y
+
+    """
+    return torch.tensor([[-1, 0, 0],
+                         [0, -1, 0],
+                         [0, 0, 1]])