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Fisheye Camera Typo and Overflow fix #1669

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Fisheye Camera Typo and Overflow fix #1669

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f6a23b8
Update fisheyecameras.py
jcjackch Oct 24, 2023
8c7e3cf
Update fisheyecameras.py
jcjackch Oct 26, 2023
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7 changes: 5 additions & 2 deletions pytorch3d/renderer/fisheyecameras.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ class FishEyeCameras(CamerasBase):
"world_coordinates",
"use_radial",
"use_tangential",
"use_tin_prism",
"use_thin_prism",
"device",
"image_size",
)
Expand Down Expand Up @@ -171,7 +171,10 @@ def _project_points_batch(

"""
assert points.shape[-1] == 3, "points shape incorrect"
ab = points[..., :2] / points[..., 2:]
denom = points[..., 2:]
denom_sign = denom.sign() + (denom == 0).type_as(denom)
denom = denom_sign * torch.clamp(denom.abs(), self.epsilon)
ab = points[..., :2] / denom
uv_distorted = ab

r = ab.norm(dim=-1)
Expand Down