Make torch script compatible

Summary:
Sequence is not TorchScript compatible, replacing with a List.

Also the original annotation `Optional[Sequence[str]]` was not correct, as implementation was actially allowing usage of `str` type.

Wrapped `project_points` with decorator `torch.jit.ignore` as it violates TorchScript too much (uses sets, changes types of variables, uses None with other types aggressively)

Differential Revision: D63444533

fbshipit-source-id: 46604cbd239ed8b9051ad371779fb81106987dc5

drtk/transform.py

@@ -3,7 +3,7 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
-from typing import Optional, Sequence, Tuple
+from typing import List, Optional, Tuple, Union
 
 import torch as th
 from drtk.utils import project_points
@@ -17,7 +17,7 @@ def transform(
     princpt: Optional[th.Tensor] = None,
     K: Optional[th.Tensor] = None,
     Rt: Optional[th.Tensor] = None,
-    distortion_mode: Optional[Sequence[str]] = None,
+    distortion_mode: Optional[Union[List[str], str]] = None,
     distortion_coeff: Optional[th.Tensor] = None,
     fov: Optional[th.Tensor] = None,
 ) -> th.Tensor:
@@ -72,7 +72,7 @@ def transform_with_v_cam(
     princpt: Optional[th.Tensor] = None,
     K: Optional[th.Tensor] = None,
     Rt: Optional[th.Tensor] = None,
-    distortion_mode: Optional[Sequence[str]] = None,
+    distortion_mode: Optional[Union[List[str], str]] = None,
     distortion_coeff: Optional[th.Tensor] = None,
     fov: Optional[th.Tensor] = None,
 ) -> Tuple[th.Tensor, th.Tensor]:

drtk/utils/projection.py

@@ -3,7 +3,7 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
-from typing import Optional, Sequence, Set, Tuple, Union
+from typing import List, Optional, Set, Tuple, Union
 
 import numpy as np
 import torch as th
@@ -321,13 +321,14 @@ def estimate_fisheye_fov(D: Union[np.ndarray, th.Tensor]) -> th.Tensor:
     return fov
 
 
+@th.jit.ignore
 def project_points(
     v: th.Tensor,
     campos: th.Tensor,
     camrot: th.Tensor,
     focal: th.Tensor,
     princpt: th.Tensor,
-    distortion_mode: Optional[Sequence[str]] = None,
+    distortion_mode: Optional[Union[List[str], str]] = None,
     distortion_coeff: Optional[th.Tensor] = None,
     fov: Optional[th.Tensor] = None,
 ) -> Tuple[th.Tensor, th.Tensor]:
@@ -430,13 +431,14 @@ def project_points(
     return v_pix, v_cam
 
 
+@th.jit.ignore
 def project_points_grad(
     v_grad: th.Tensor,
     v: th.Tensor,
     campos: th.Tensor,
     camrot: th.Tensor,
     focal: th.Tensor,
-    distortion_mode: Optional[Sequence[str]] = None,
+    distortion_mode: Optional[Union[List[str], str]] = None,
     distortion_coeff: Optional[th.Tensor] = None,
 ) -> th.Tensor:
     """Computes the gradient of projected (pixel-space) vertex positions with