Fix inferred typing

Summary: D35513897 (https://github.com/facebookresearch/pytorch3d/commit/4b94649f7b7de4ce3a0597c5a17a7596928ad20b) was a pyre infer job which got some things wrong. Correct by adding the correct types, so these things shouldn't need worrying about again.

Reviewed By: patricklabatut

Differential Revision: D35546144

fbshipit-source-id: 89f6ea2b67be27aa0b0b14afff4347cccf23feb7

pytorch3d/ops/points_normals.py

@@ -167,7 +167,7 @@ def estimate_pointcloud_local_coord_frames(
     return curvatures, local_coord_frames
 
 
-def _disambiguate_vector_directions(pcl, knns, vecs: float) -> float:
+def _disambiguate_vector_directions(pcl, knns, vecs: torch.Tensor) -> torch.Tensor:
     """
     Disambiguates normal directions according to [1].
 
@@ -181,7 +181,6 @@ def _disambiguate_vector_directions(pcl, knns, vecs: float) -> float:
     # each element of the neighborhood
     df = knns - pcl[:, :, None]
     # projection of the difference on the principal direction
-    # pyre-fixme[16]: `float` has no attribute `__getitem__`.
     proj = (vecs[:, :, None] * df).sum(3)
     # check how many projections are positive
     n_pos = (proj > 0).type_as(knns).sum(2, keepdim=True)

pytorch3d/ops/subdivide_meshes.py

@@ -261,7 +261,7 @@ class SubdivideMeshes(nn.Module):
 
             # Calculate the indices needed to group the new and existing verts
             # for each mesh.
-            verts_sort_idx = create_verts_index(
+            verts_sort_idx = _create_verts_index(
                 num_verts_per_mesh, num_edges_per_mesh, meshes.device
             )  # (sum(V_n)+sum(E_n),)
 
@@ -282,7 +282,9 @@ class SubdivideMeshes(nn.Module):
 
             # Calculate the indices needed to group the existing and new faces
             # for each mesh.
-            face_sort_idx = create_faces_index(num_faces_per_mesh, device=meshes.device)
+            face_sort_idx = _create_faces_index(
+                num_faces_per_mesh, device=meshes.device
+            )
 
             # Reorder the faces to sequentially group existing and new faces
             # for each mesh.
@@ -329,7 +331,7 @@ class SubdivideMeshes(nn.Module):
             return new_meshes, new_feats
 
 
-def create_verts_index(verts_per_mesh, edges_per_mesh, device=None):
+def _create_verts_index(verts_per_mesh, edges_per_mesh, device=None):
     """
     Helper function to group the vertex indices for each mesh. New vertices are
     stacked at the end of the original verts tensor, so in order to have
@@ -400,7 +402,7 @@ def create_verts_index(verts_per_mesh, edges_per_mesh, device=None):
     return verts_idx
 
 
-def create_faces_index(faces_per_mesh: int, device=None):
+def _create_faces_index(faces_per_mesh: torch.Tensor, device=None):
     """
     Helper function to group the faces indices for each mesh. New faces are
     stacked at the end of the original faces tensor, so in order to have
@@ -417,9 +419,7 @@ def create_faces_index(faces_per_mesh: int, device=None):
     """
     # e.g. faces_per_mesh = [2, 5, 3]
 
-    # pyre-fixme[16]: `int` has no attribute `sum`.
     F = faces_per_mesh.sum()  # e.g. 10
-    # pyre-fixme[16]: `int` has no attribute `cumsum`.
     faces_per_mesh_cumsum = faces_per_mesh.cumsum(dim=0)  # (N,) e.g. (2, 7, 10)
 
     switch1_idx = faces_per_mesh_cumsum.clone()

pytorch3d/renderer/cameras.py

@@ -21,6 +21,14 @@ from .utils import TensorProperties, convert_to_tensors_and_broadcast
 _R = torch.eye(3)[None]  # (1, 3, 3)
 _T = torch.zeros(1, 3)  # (1, 3)
 
+# An input which is a float per batch element
+_BatchFloatType = Union[float, Sequence[float], torch.Tensor]
+
+# one or two floats per batch element
+_FocalLengthType = Union[
+    float, Sequence[Tuple[float]], Sequence[Tuple[float, float]], torch.Tensor
+]
+
 
 class CamerasBase(TensorProperties):
     """
@@ -427,10 +435,10 @@ class CamerasBase(TensorProperties):
 
 
 def OpenGLPerspectiveCameras(
-    znear: float = 1.0,
-    zfar: float = 100.0,
-    aspect_ratio: float = 1.0,
-    fov: float = 60.0,
+    znear: _BatchFloatType = 1.0,
+    zfar: _BatchFloatType = 100.0,
+    aspect_ratio: _BatchFloatType = 1.0,
+    fov: _BatchFloatType = 60.0,
     degrees: bool = True,
     R: torch.Tensor = _R,
     T: torch.Tensor = _T,
@@ -508,10 +516,10 @@ class FoVPerspectiveCameras(CamerasBase):
 
     def __init__(
         self,
-        znear=1.0,
-        zfar=100.0,
-        aspect_ratio=1.0,
-        fov=60.0,
+        znear: _BatchFloatType = 1.0,
+        zfar: _BatchFloatType = 100.0,
+        aspect_ratio: _BatchFloatType = 1.0,
+        fov: _BatchFloatType = 60.0,
         degrees: bool = True,
         R: torch.Tensor = _R,
         T: torch.Tensor = _T,
@@ -709,12 +717,12 @@ class FoVPerspectiveCameras(CamerasBase):
 
 
 def OpenGLOrthographicCameras(
-    znear: float = 1.0,
-    zfar: float = 100.0,
-    top: float = 1.0,
-    bottom: float = -1.0,
-    left: float = -1.0,
-    right: float = 1.0,
+    znear: _BatchFloatType = 1.0,
+    zfar: _BatchFloatType = 100.0,
+    top: _BatchFloatType = 1.0,
+    bottom: _BatchFloatType = -1.0,
+    left: _BatchFloatType = -1.0,
+    right: _BatchFloatType = 1.0,
     scale_xyz=((1.0, 1.0, 1.0),),  # (1, 3)
     R: torch.Tensor = _R,
     T: torch.Tensor = _T,
@@ -769,12 +777,12 @@ class FoVOrthographicCameras(CamerasBase):
 
     def __init__(
         self,
-        znear=1.0,
-        zfar=100.0,
-        max_y=1.0,
-        min_y=-1.0,
-        max_x=1.0,
-        min_x=-1.0,
+        znear: _BatchFloatType = 1.0,
+        zfar: _BatchFloatType = 100.0,
+        max_y: _BatchFloatType = 1.0,
+        min_y: _BatchFloatType = -1.0,
+        max_x: _BatchFloatType = 1.0,
+        min_x: _BatchFloatType = -1.0,
         scale_xyz=((1.0, 1.0, 1.0),),  # (1, 3)
         R: torch.Tensor = _R,
         T: torch.Tensor = _T,
@@ -956,7 +964,7 @@ Note that the MultiView Cameras accept parameters in NDC space.
 
 
 def SfMPerspectiveCameras(
-    focal_length: float = 1.0,
+    focal_length: _FocalLengthType = 1.0,
     principal_point=((0.0, 0.0),),
     R: torch.Tensor = _R,
     T: torch.Tensor = _T,
@@ -1008,7 +1016,7 @@ class PerspectiveCameras(CamerasBase):
 
     def __init__(
         self,
-        focal_length=1.0,
+        focal_length: _FocalLengthType = 1.0,
         principal_point=((0.0, 0.0),),
         R: torch.Tensor = _R,
         T: torch.Tensor = _T,
@@ -1194,7 +1202,7 @@ class PerspectiveCameras(CamerasBase):
 
 
 def SfMOrthographicCameras(
-    focal_length: float = 1.0,
+    focal_length: _FocalLengthType = 1.0,
     principal_point=((0.0, 0.0),),
     R: torch.Tensor = _R,
     T: torch.Tensor = _T,
@@ -1246,7 +1254,7 @@ class OrthographicCameras(CamerasBase):
 
     def __init__(
         self,
-        focal_length=1.0,
+        focal_length: _FocalLengthType = 1.0,
         principal_point=((0.0, 0.0),),
         R: torch.Tensor = _R,
         T: torch.Tensor = _T,

pytorch3d/vis/texture_vis.py

@@ -4,7 +4,7 @@
 # This source code is licensed under the BSD-style license found in the
 # LICENSE file in the root directory of this source tree.
 
-from typing import Optional
+from typing import Any, Optional
 
 import numpy as np
 from PIL import Image, ImageDraw
@@ -65,7 +65,7 @@ def texturesuv_image_PIL(
     *,
     texture_index: int = 0,
     radius: float = 1,
-    color: str = "red",
+    color: Any = "red",
     subsample: Optional[int] = 10000,
 ):  # pragma: no cover
     """