provide cow dataset

Summary: Make a dummy single-scene dataset using the code from generate_cow_renders (used in existing NeRF tutorials)

Reviewed By: kjchalup

Differential Revision: D38116910

fbshipit-source-id: 8db6df7098aa221c81d392e5cd21b0e67f65bd70

docs/tutorials/data/cow_mesh/README.md

 # Acknowledgements
 
-Thank you to Keenen Crane for allowing the cow mesh model to be used freely in the public domain.
+Thank you to Keenan Crane for allowing the cow mesh model to be used freely in the public domain.
 
 ###### Source: http://www.cs.cmu.edu/~kmcrane/Projects/ModelRepository/

docs/tutorials/utils/generate_cow_renders.py

@@ -44,6 +44,8 @@ def generate_cow_renders(
         data_dir: The folder that contains the cow mesh files. If the cow mesh
             files do not exist in the folder, this function will automatically
             download them.
+        azimuth_range: number of degrees on each side of the start position to
+            take samples
 
     Returns:
         cameras: A batch of `num_views` `FoVPerspectiveCameras` from which the

projects/implicitron_trainer/tests/experiment.yaml

@@ -101,6 +101,15 @@ data_source_ImplicitronDataSource_args:
     n_known_frames_for_test: null
     path_manager_factory_PathManagerFactory_args:
       silence_logs: true
+  dataset_map_provider_RenderedMeshDatasetMapProvider_args:
+    num_views: 40
+    data_file: null
+    azimuth_range: 180.0
+    resolution: 128
+    use_point_light: true
+    path_manager_factory_class_type: PathManagerFactory
+    path_manager_factory_PathManagerFactory_args:
+      silence_logs: true
   data_loader_map_provider_SequenceDataLoaderMapProvider_args:
     batch_size: 1
     num_workers: 0

pytorch3d/implicitron/dataset/data_source.py

@@ -19,6 +19,7 @@ from .dataset_map_provider import DatasetMap, DatasetMapProviderBase, Task
 from .json_index_dataset_map_provider import JsonIndexDatasetMapProvider  # noqa
 from .json_index_dataset_map_provider_v2 import JsonIndexDatasetMapProviderV2  # noqa
 from .llff_dataset_map_provider import LlffDatasetMapProvider  # noqa
+from .rendered_mesh_dataset_map_provider import RenderedMeshDatasetMapProvider  # noqa
 
 
 class DataSourceBase(ReplaceableBase):

pytorch3d/implicitron/dataset/rendered_mesh_dataset_map_provider.py

+# Copyright (c) Meta Platforms, Inc. and affiliates.
+# All rights reserved.
+#
+# This source code is licensed under the BSD-style license found in the
+# LICENSE file in the root directory of this source tree.
+
+from os.path import dirname, join, realpath
+from typing import Optional, Tuple
+
+import torch
+from pytorch3d.implicitron.tools.config import (
+    expand_args_fields,
+    registry,
+    run_auto_creation,
+)
+from pytorch3d.io import IO
+from pytorch3d.renderer import (
+    AmbientLights,
+    BlendParams,
+    CamerasBase,
+    FoVPerspectiveCameras,
+    HardPhongShader,
+    look_at_view_transform,
+    MeshRasterizer,
+    MeshRendererWithFragments,
+    PointLights,
+    RasterizationSettings,
+)
+from pytorch3d.structures.meshes import Meshes
+
+from .dataset_map_provider import (
+    DatasetMap,
+    DatasetMapProviderBase,
+    PathManagerFactory,
+    Task,
+)
+from .single_sequence_dataset import SingleSceneDataset
+from .utils import DATASET_TYPE_KNOWN
+
+
+@registry.register
+class RenderedMeshDatasetMapProvider(DatasetMapProviderBase):  # pyre-ignore [13]
+    """
+    A simple single-scene dataset based on PyTorch3D renders of a mesh.
+    Provides `num_views` renders of the mesh as train, with no val
+    and test. The renders are generated from viewpoints sampled at uniformly
+    distributed azimuth intervals. The elevation is kept constant so that the
+    camera's vertical position coincides with the equator.
+
+    By default, uses Keenan Crane's cow model, and the camera locations are
+    set to make sense for that.
+
+    Although the rendering used to generate this dataset will use a GPU
+    if one is available, the data it produces is on the CPU just like
+    the data returned by implicitron's other dataset map providers.
+    This is because both datasets and models can be large, so implicitron's
+    GenericModel.forward (etc) expects data on the CPU and only moves
+    what it needs to the device.
+
+    For a more detailed explanation of this code, please refer to the
+    docs/tutorials/fit_textured_mesh.ipynb notebook.
+
+    Members:
+        num_views: The number of generated renders.
+        data_file: The folder that contains the mesh file. By default, finds
+            the cow mesh in the same repo as this code.
+        azimuth_range: number of degrees on each side of the start position to
+            take samples
+        resolution: the common height and width of the output images.
+        use_point_light: whether to use a particular point light as opposed
+            to ambient white.
+    """
+
+    num_views: int = 40
+    data_file: Optional[str] = None
+    azimuth_range: float = 180
+    resolution: int = 128
+    use_point_light: bool = True
+    path_manager_factory: PathManagerFactory
+    path_manager_factory_class_type: str = "PathManagerFactory"
+
+    def get_dataset_map(self) -> DatasetMap:
+        # pyre-ignore[16]
+        return DatasetMap(train=self.train_dataset, val=None, test=None)
+
+    def get_task(self) -> Task:
+        return Task.SINGLE_SEQUENCE
+
+    def get_all_train_cameras(self) -> CamerasBase:
+        # pyre-ignore[16]
+        return self.poses
+
+    def __post_init__(self) -> None:
+        super().__init__()
+        run_auto_creation(self)
+        if torch.cuda.is_available():
+            device = torch.device("cuda:0")
+        else:
+            device = torch.device("cpu")
+        if self.data_file is None:
+            data_file = join(
+                dirname(dirname(dirname(dirname(realpath(__file__))))),
+                "docs",
+                "tutorials",
+                "data",
+                "cow_mesh",
+                "cow.obj",
+            )
+        else:
+            data_file = self.data_file
+        io = IO(path_manager=self.path_manager_factory.get())
+        mesh = io.load_mesh(data_file, device=device)
+        poses, images, masks = _generate_cow_renders(
+            num_views=self.num_views,
+            mesh=mesh,
+            azimuth_range=self.azimuth_range,
+            resolution=self.resolution,
+            device=device,
+            use_point_light=self.use_point_light,
+        )
+        # pyre-ignore[16]
+        self.poses = poses.cpu()
+        expand_args_fields(SingleSceneDataset)
+        # pyre-ignore[16]
+        self.train_dataset = SingleSceneDataset(  # pyre-ignore[28]
+            object_name="cow",
+            images=list(images.permute(0, 3, 1, 2).cpu()),
+            fg_probabilities=list(masks[:, None].cpu()),
+            poses=[self.poses[i] for i in range(len(poses))],
+            frame_types=[DATASET_TYPE_KNOWN] * len(poses),
+            eval_batches=None,
+        )
+
+
+@torch.no_grad()
+def _generate_cow_renders(
+    *,
+    num_views: int,
+    mesh: Meshes,
+    azimuth_range: float,
+    resolution: int,
+    device: torch.device,
+    use_point_light: bool,
+) -> Tuple[CamerasBase, torch.Tensor, torch.Tensor]:
+    """
+    Returns:
+        cameras: A batch of `num_views` `FoVPerspectiveCameras` from which the
+            images are rendered.
+        images: A tensor of shape `(num_views, height, width, 3)` containing
+            the rendered images.
+        silhouettes: A tensor of shape `(num_views, height, width)` containing
+            the rendered silhouettes.
+    """
+
+    # Load obj file
+
+    # We scale normalize and center the target mesh to fit in a sphere of radius 1
+    # centered at (0,0,0). (scale, center) will be used to bring the predicted mesh
+    # to its original center and scale.  Note that normalizing the target mesh,
+    # speeds up the optimization but is not necessary!
+    verts = mesh.verts_packed()
+    N = verts.shape[0]
+    center = verts.mean(0)
+    scale = max((verts - center).abs().max(0)[0])
+    mesh.offset_verts_(-(center.expand(N, 3)))
+    mesh.scale_verts_((1.0 / float(scale)))
+
+    # Get a batch of viewing angles.
+    elev = torch.linspace(0, 0, num_views)  # keep constant
+    azim = torch.linspace(-azimuth_range, azimuth_range, num_views) + 180.0
+
+    # Place a point light in front of the object. As mentioned above, the front of
+    # the cow is facing the -z direction.
+    if use_point_light:
+        lights = PointLights(device=device, location=[[0.0, 0.0, -3.0]])
+    else:
+        lights = AmbientLights(device=device)
+
+    # Initialize an OpenGL perspective camera that represents a batch of different
+    # viewing angles. All the cameras helper methods support mixed type inputs and
+    # broadcasting. So we can view the camera from the a distance of dist=2.7, and
+    # then specify elevation and azimuth angles for each viewpoint as tensors.
+    R, T = look_at_view_transform(dist=2.7, elev=elev, azim=azim)
+    cameras = FoVPerspectiveCameras(device=device, R=R, T=T)
+
+    # Define the settings for rasterization and shading.
+    # As we are rendering images for visualization
+    # purposes only we will set faces_per_pixel=1 and blur_radius=0.0. Refer to
+    # rasterize_meshes.py for explanations of these parameters.  We also leave
+    # bin_size and max_faces_per_bin to their default values of None, which sets
+    # their values using heuristics and ensures that the faster coarse-to-fine
+    # rasterization method is used.  Refer to docs/notes/renderer.md for an
+    # explanation of the difference between naive and coarse-to-fine rasterization.
+    raster_settings = RasterizationSettings(
+        image_size=resolution, blur_radius=0.0, faces_per_pixel=1
+    )
+
+    # Create a Phong renderer by composing a rasterizer and a shader. The textured
+    # Phong shader will interpolate the texture uv coordinates for each vertex,
+    # sample from a texture image and apply the Phong lighting model
+    blend_params = BlendParams(sigma=1e-4, gamma=1e-4, background_color=(0.0, 0.0, 0.0))
+    rasterizer_type = MeshRasterizer
+    renderer = MeshRendererWithFragments(
+        rasterizer=rasterizer_type(cameras=cameras, raster_settings=raster_settings),
+        shader=HardPhongShader(
+            device=device, cameras=cameras, lights=lights, blend_params=blend_params
+        ),
+    )
+
+    # Create a batch of meshes by repeating the cow mesh and associated textures.
+    # Meshes has a useful `extend` method which allows us do this very easily.
+    # This also extends the textures.
+    meshes = mesh.extend(num_views)
+
+    # Render the cow mesh from each viewing angle
+    target_images, fragments = renderer(meshes, cameras=cameras, lights=lights)
+    silhouette_binary = (fragments.pix_to_face[..., 0] >= 0).float()
+
+    return cameras, target_images[..., :3], silhouette_binary

pytorch3d/renderer/cameras.py

@@ -1661,9 +1661,9 @@ def look_at_rotation(
 
 
 def look_at_view_transform(
-    dist: float = 1.0,
-    elev: float = 0.0,
-    azim: float = 0.0,
+    dist: _BatchFloatType = 1.0,
+    elev: _BatchFloatType = 0.0,
+    azim: _BatchFloatType = 0.0,
     degrees: bool = True,
     eye: Optional[Union[Sequence, torch.Tensor]] = None,
     at=((0, 0, 0),),  # (1, 3)

tests/data/missing_usemtl/README.md

@@ -2,6 +2,6 @@
 
 This is copied version of docs/tutorials/data/cow_mesh with removed line 6159 (usemtl material_1) to test behavior without usemtl material_1 declaration.
 
-Thank you to Keenen Crane for allowing the cow mesh model to be used freely in the public domain.
+Thank you to Keenan Crane for allowing the cow mesh model to be used freely in the public domain.
 
 ###### Source: http://www.cs.cmu.edu/~kmcrane/Projects/ModelRepository/

tests/implicitron/data/data_source.yaml

@@ -90,6 +90,15 @@ dataset_map_provider_LlffDatasetMapProvider_args:
   n_known_frames_for_test: null
   path_manager_factory_PathManagerFactory_args:
     silence_logs: true
+dataset_map_provider_RenderedMeshDatasetMapProvider_args:
+  num_views: 40
+  data_file: null
+  azimuth_range: 180.0
+  resolution: 128
+  use_point_light: true
+  path_manager_factory_class_type: PathManagerFactory
+  path_manager_factory_PathManagerFactory_args:
+    silence_logs: true
 data_loader_map_provider_SequenceDataLoaderMapProvider_args:
   batch_size: 1
   num_workers: 0

tests/implicitron/test_data_cow.py

+# Copyright (c) Meta Platforms, Inc. and affiliates.
+# All rights reserved.
+#
+# This source code is licensed under the BSD-style license found in the
+# LICENSE file in the root directory of this source tree.
+
+import os
+import unittest
+
+import torch
+from pytorch3d.implicitron.dataset.dataset_base import FrameData
+from pytorch3d.implicitron.dataset.rendered_mesh_dataset_map_provider import (
+    RenderedMeshDatasetMapProvider,
+)
+from pytorch3d.implicitron.tools.config import expand_args_fields
+from pytorch3d.renderer import FoVPerspectiveCameras
+from tests.common_testing import TestCaseMixin
+
+
+inside_re_worker = os.environ.get("INSIDE_RE_WORKER", False)
+
+
+class TestDataCow(TestCaseMixin, unittest.TestCase):
+    def test_simple(self):
+        if inside_re_worker:
+            return
+        expand_args_fields(RenderedMeshDatasetMapProvider)
+        self._runtest(use_point_light=True, num_views=4)
+        self._runtest(use_point_light=False, num_views=4)
+
+    def _runtest(self, **kwargs):
+        provider = RenderedMeshDatasetMapProvider(**kwargs)
+        dataset_map = provider.get_dataset_map()
+        known_matrix = torch.zeros(1, 4, 4)
+        known_matrix[0, 0, 0] = 1.7321
+        known_matrix[0, 1, 1] = 1.7321
+        known_matrix[0, 2, 2] = 1.0101
+        known_matrix[0, 3, 2] = -1.0101
+        known_matrix[0, 2, 3] = 1
+
+        self.assertIsNone(dataset_map.val)
+        self.assertIsNone(dataset_map.test)
+        self.assertEqual(len(dataset_map.train), provider.num_views)
+
+        value = dataset_map.train[0]
+        self.assertIsInstance(value, FrameData)
+
+        self.assertEqual(value.image_rgb.shape, (3, 128, 128))
+        self.assertEqual(value.fg_probability.shape, (1, 128, 128))
+        # corner of image is background
+        self.assertEqual(value.fg_probability[0, 0, 0], 0)
+        self.assertEqual(value.fg_probability.max(), 1.0)
+        self.assertIsInstance(value.camera, FoVPerspectiveCameras)
+        self.assertEqual(len(value.camera), 1)
+        self.assertIsNone(value.camera.K)
+        matrix = value.camera.get_projection_transform().get_matrix()
+        self.assertClose(matrix, known_matrix, atol=1e-4)