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Update camera_ray_tracing.py: fix small bugs #726

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Update camera_ray_tracing.py: fix small bugs #726

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10 changes: 6 additions & 4 deletions examples/recipes/camera/camera_ray_tracing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,8 @@
import torch
import numpy as np
from typing import Tuple
from kaolin.render.camera import Camera, CameraFOV
from kaolin.render.camera import Camera
from kaolin.render.camera.intrinsics import CameraFOV
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This one isn't actually needed as __init__.py has:

from .intrinsics import *


def generate_pixel_grid(res_x=None, res_y=None, device='cuda'):
h_coords = torch.arange(res_x, device=device)
Expand Down Expand Up @@ -45,20 +46,21 @@ def generate_perspective_rays(camera: Camera, pixel_grid: Tuple[torch.Tensor, to

return ray_orig, ray_dir, camera.near, camera.far


img_width = 200
img_height =200
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Minor: Please fix the space here

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
x0=0.0, y0=0.0,
width=800, height=800,
width=img_width, height=img_height,
near=1e-2, far=1e2,
dtype=torch.float64,
device='cuda'
)

pixel_grid = generate_pixel_grid(200, 200)
pixel_grid = generate_pixel_grid(img_width, img_height)
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Given that this snippet should be a simple recipe, I agree with your suggestion of having the raygen grid and image plane with the same resolution.
To complete the picture however - the raygen grid resolution and image plane resolution can actually differ, and this can also be exploited to, i.e., trace a lower-resolution image.

For reference, kaolin-wisp implements exactly that for its interactive mode:

  1. https://github.com/NVIDIAGameWorks/kaolin-wisp/blob/main/wisp/renderer/core/render_core.py#L167C9-L167C9
  2. https://github.com/NVIDIAGameWorks/kaolin-wisp/blob/main/wisp/renderer/core/render_core.py#L290

Picking an arbitrary resolution (which is not a power of 2 downscale factor) can indeed cause alignment issues, which I think it what you're worried about?

ray_orig, ray_dir, near, far = generate_perspective_rays(camera, pixel_grid)

print('Ray origins:')
Expand Down