Improve memory efficiency in VolumeSampler

Summary: Avoids use of `torch.cat` operation when rendering a volume by instead issuing multiple calls to `torch.nn.functional.grid_sample`. Density and color tensors can be large.

Reviewed By: bottler

Differential Revision: D40072399

fbshipit-source-id: eb4cd34f6171d54972bbf2877065f973db497de0

pytorch3d/renderer/implicit/renderer.py

@@ -363,35 +363,40 @@ class VolumeSampler(torch.nn.Module):
         volumes_densities = self._volumes.densities()
         dim_density = volumes_densities.shape[1]
         volumes_features = self._volumes.features()
-        # adjust the volumes_features variable in case we have a feature-less volume
-        if volumes_features is None:
-            dim_feature = 0
-            data_to_sample = volumes_densities
-        else:
-            dim_feature = volumes_features.shape[1]
-            data_to_sample = torch.cat((volumes_densities, volumes_features), dim=1)
 
         # reshape to a size which grid_sample likes
         rays_points_local_flat = rays_points_local.view(
             rays_points_local.shape[0], -1, 1, 1, 3
         )
 
-        # run the grid sampler
-        data_sampled = torch.nn.functional.grid_sample(
-            data_to_sample,
+        # run the grid sampler on the volumes densities
+        rays_densities = torch.nn.functional.grid_sample(
+            volumes_densities,
             rays_points_local_flat,
             align_corners=True,
             mode=self._sample_mode,
         )
 
-        # permute the dimensions & reshape after sampling
-        data_sampled = data_sampled.permute(0, 2, 3, 4, 1).view(
-            *rays_points_local.shape[:-1], data_sampled.shape[1]
+        # permute the dimensions & reshape densities after sampling
+        rays_densities = rays_densities.permute(0, 2, 3, 4, 1).view(
+            *rays_points_local.shape[:-1], volumes_densities.shape[1]
         )
 
-        # split back to densities and features
-        rays_densities, rays_features = data_sampled.split(
-            [dim_density, dim_feature], dim=-1
-        )
+        # if features exist, run grid sampler again on the features densities
+        if volumes_features is None:
+            dim_feature = 0
+            _, rays_features = rays_densities.split([dim_density, dim_feature], dim=-1)
+        else:
+            rays_features = torch.nn.functional.grid_sample(
+                volumes_features,
+                rays_points_local_flat,
+                align_corners=True,
+                mode=self._sample_mode,
+            )
+
+            # permute the dimensions & reshape features after sampling
+            rays_features = rays_features.permute(0, 2, 3, 4, 1).view(
+                *rays_points_local.shape[:-1], volumes_features.shape[1]
+            )
 
         return rays_densities, rays_features