projection.py does not consider intrinsics K

ShichenLiu / SoftRas

Project page of paper "Soft Rasterizer: A Differentiable Renderer for Image-based 3D Reasoning"

MIT License

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projection.py does not consider intrinsics K #9

Open tiancheng-zhi opened 5 years ago

tiancheng-zhi commented 5 years ago

intrinsic matrix K should be applied after applying distortion

sh8 commented 4 years ago

The projection matrix P contains information about the intrinsic matrix.

P = K [R|t]

eyrun commented 6 months ago

If you provide P = K [R | t] and have no distortion the rendered image looks correct, however if there is distortion this doesn't work as the undistortion should happen in the normalized camera frame.