- 17 Apr, 2020 3 commits
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Roman Shapovalov authored
Summary: Efficient PnP algorithm to fit 2D to 3D correspondences under perspective assumption. Benchmarked both variants of nullspace and pick one; SVD takes 7 times longer in the 100K points case. Reviewed By: davnov134, gkioxari Differential Revision: D20095754 fbshipit-source-id: 2b4519729630e6373820880272f674829eaed073
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David Novotny authored
Summary: Made a CameraBase class. Added `unproject_points` method for each camera class. Reviewed By: nikhilaravi Differential Revision: D20373602 fbshipit-source-id: 7e3da5ae420091b5fcab400a9884ef29ad7a7343
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David Novotny authored
Summary: Estimates normals of a point cloud. Reviewed By: gkioxari Differential Revision: D20860182 fbshipit-source-id: 652ec2743fa645e02c01ffa37c2971bf27b89cef
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- 16 Apr, 2020 3 commits
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David Novotny authored
Summary: The iterative closest point algorithm - point-to-point version. Output of `bm_iterative_closest_point`: Argument key: `batch_size dim n_points_X n_points_Y use_pointclouds` ``` Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- IterativeClosestPoint_1_3_100_100_False 107569 111323 5 IterativeClosestPoint_1_3_100_1000_False 118972 122306 5 IterativeClosestPoint_1_3_1000_100_False 108576 110978 5 IterativeClosestPoint_1_3_1000_1000_False 331836 333515 2 IterativeClosestPoint_1_20_100_100_False 134387 137842 4 IterativeClosestPoint_1_20_100_1000_False 149218 153405 4 IterativeClosestPoint_1_20_1000_100_False 414248 416595 2 IterativeClosestPoint_1_20_1000_1000_False 374318 374662 2 IterativeClosestPoint_10_3_100_100_False 539852 539852 1 IterativeClosestPoint_10_3_100_1000_False 752784 752784 1 IterativeClosestPoint_10_3_1000_100_False 1070700 1070700 1 IterativeClosestPoint_10_3_1000_1000_False 1164020 1164020 1 IterativeClosestPoint_10_20_100_100_False 374548 377337 2 IterativeClosestPoint_10_20_100_1000_False 472764 476685 2 IterativeClosestPoint_10_20_1000_100_False 1457175 1457175 1 IterativeClosestPoint_10_20_1000_1000_False 2195820 2195820 1 IterativeClosestPoint_1_3_100_100_True 110084 115824 5 IterativeClosestPoint_1_3_100_1000_True 142728 147696 4 IterativeClosestPoint_1_3_1000_100_True 212966 213966 3 IterativeClosestPoint_1_3_1000_1000_True 369130 375114 2 IterativeClosestPoint_10_3_100_100_True 354615 355179 2 IterativeClosestPoint_10_3_100_1000_True 451815 452704 2 IterativeClosestPoint_10_3_1000_100_True 511833 511833 1 IterativeClosestPoint_10_3_1000_1000_True 798453 798453 1 -------------------------------------------------------------------------------- ``` Reviewed By: shapovalov, gkioxari Differential Revision: D19909952 fbshipit-source-id: f77fadc88fb7c53999909d594114b182ee2a3def
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Nikhila Ravi authored
Summary: Resolved trailing whitespace warnings. Reviewed By: gkioxari Differential Revision: D21023982 fbshipit-source-id: 14ea2ca372c13cfa987acc260264ca99ce44c461
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Nikhila Ravi authored
Summary: knn is more general and faster than the nearest_neighbor code, so remove the latter. Reviewed By: gkioxari Differential Revision: D20816424 fbshipit-source-id: 75d6c44d17180752d0c9859814bbdf7892558158
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- 15 Apr, 2020 3 commits
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Nikhila Ravi authored
Summary: Allow Pointclouds objects and heterogenous data to be provided for Chamfer loss. Remove "none" as an option for point_reduction because it doesn't make sense and in the current implementation is effectively the same as "sum". Possible improvement: create specialised operations for sum and cosine_similarity of padded tensors, to avoid having to create masks. sum would be useful elsewhere. Reviewed By: gkioxari Differential Revision: D20816301 fbshipit-source-id: 0f32073210225d157c029d80de450eecdb64f4d2
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Siddhant Ranade authored
Summary: Fixed a bug in creating the projection matrix for the SfMPerspectiveCameras class. Also fixed the corresponding test in test_cameras.py. The p0x, p0y are 2D coordinates for the principal point in the NDCS, and therefore should be added AFTER the perspective z divide. I.e. we expect <a href="https://www.codecogs.com/eqnedit.php?latex=\begin{bmatrix}&space;x\&space;y\&space;z&space;\end{bmatrix}_{\text{NDCS}}&space;=&space;\begin{bmatrix}&space;f_xX/Z&space;+&space;p_x\&space;f_yY/Z&space;+&space;p_y\&space;1&space;/&space;Z\&space;\end{bmatrix}&space;=&space;\text{normalize}\left(&space;\begin{bmatrix}&space;f_xX&space;+&space;p_xZ\&space;f_yY&space;+&space;p_yZ\&space;1\&space;Z&space;\end{bmatrix}&space;\right)" target="_blank"><img src="https://latex.codecogs.com/gif.latex?\begin{bmatrix}&space;x\&space;y\&space;z&space;\end{bmatrix}_{\text{NDCS}}&space;=&space;\begin{bmatrix}&space;f_xX/Z&space;+&space;p_x\&space;f_yY/Z&space;+&space;p_y\&space;1&space;/&space;Z\&space;\end{bmatrix}&space;=&space;\text{normalize}\left(&space;\begin{bmatrix}&space;f_xX&space;+&space;p_xZ\&space;f_yY&space;+&space;p_yZ\&space;1\&space;Z&space;\end{bmatrix}&space;\right)" title="\begin{bmatrix} x\ y\ z \end{bmatrix}_{\text{NDCS}} = \begin{bmatrix} f_xX/Z + p_x\ f_yY/Z + p_y\ 1 / Z\ \end{bmatrix} = \text{normalize}\left( \begin{bmatrix} f_xX + p_xZ\ f_yY + p_yZ\ 1\ Z \end{bmatrix} \right)" /></a> The current behavior is <a href="https://www.codecogs.com/eqnedit.php?latex=\begin{bmatrix}&space;x\&space;y\&space;z&space;\end{bmatrix}_{\text{NDCS}}&space;=&space;\begin{bmatrix}&space;f_xX/Z&space;+&space;p_x/Z\&space;f_yY/Z&space;+&space;p_y/Z\&space;1&space;/&space;Z\&space;\end{bmatrix}&space;=&space;\text{normalize}\left(&space;\begin{bmatrix}&space;f_xX&space;+&space;p_x\&space;f_yY&space;+&space;p_y\&space;1\&space;Z&space;\end{bmatrix}&space;\right)" target="_blank"><img src="https://latex.codecogs.com/gif.latex?\begin{bmatrix}&space;x\&space;y\&space;z&space;\end{bmatrix}_{\text{NDCS}}&space;=&space;\begin{bmatrix}&space;f_xX/Z&space;+&space;p_x/Z\&space;f_yY/Z&space;+&space;p_y/Z\&space;1&space;/&space;Z\&space;\end{bmatrix}&space;=&space;\text{normalize}\left(&space;\begin{bmatrix}&space;f_xX&space;+&space;p_x\&space;f_yY&space;+&space;p_y\&space;1\&space;Z&space;\end{bmatrix}&space;\right)" title="\begin{bmatrix} x\ y\ z \end{bmatrix}_{\text{NDCS}} = \begin{bmatrix} f_xX/Z + p_x/Z\ f_yY/Z + p_y/Z\ 1 / Z\ \end{bmatrix} = \text{normalize}\left( \begin{bmatrix} f_xX + p_x\ f_yY + p_y\ 1\ Z \end{bmatrix} \right)" /></a> which is incorrect. Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/148 Reviewed By: gkioxari Differential Revision: D21039003 Pulled By: davnov134 fbshipit-source-id: 3e19ac22adbcc39b731ae14052a72fd4ddda2af5
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Georgia Gkioxari authored
Summary: Adds knn backward to return `grad_pts1` and `grad_pts2`. Adds `knn_gather` to return the nearest neighbors in pts2. The BM tests include backward pass and are ran on an M40. ``` Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- KNN_SQUARE_32_256_128_3_24_cpu 39558 43485 13 KNN_SQUARE_32_256_128_3_24_cuda:0 1080 1404 463 KNN_SQUARE_32_256_512_3_24_cpu 81950 85781 7 KNN_SQUARE_32_256_512_3_24_cuda:0 1519 1641 330 -------------------------------------------------------------------------------- Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- KNN_RAGGED_32_256_128_3_24_cpu 13798 14650 37 KNN_RAGGED_32_256_128_3_24_cuda:0 1576 1713 318 KNN_RAGGED_32_256_512_3_24_cpu 31255 32210 16 KNN_RAGGED_32_256_512_3_24_cuda:0 2024 2162 248 -------------------------------------------------------------------------------- ``` Reviewed By: jcjohnson Differential Revision: D20945556 fbshipit-source-id: a16f616029c6b5f8c2afceb5f2bc12c5c20d2f3c
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- 11 Apr, 2020 1 commit
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Georgia Gkioxari authored
Summary: Implementation of point to mesh distances. The current diff contains two types: (a) Point to Edge (b) Point to Face ``` Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- POINT_MESH_EDGE_4_100_300_5000_cuda:0 2745 3138 183 POINT_MESH_EDGE_4_100_300_10000_cuda:0 4408 4499 114 POINT_MESH_EDGE_4_100_3000_5000_cuda:0 4978 5070 101 POINT_MESH_EDGE_4_100_3000_10000_cuda:0 9076 9187 56 POINT_MESH_EDGE_4_1000_300_5000_cuda:0 1411 1487 355 POINT_MESH_EDGE_4_1000_300_10000_cuda:0 4829 5030 104 POINT_MESH_EDGE_4_1000_3000_5000_cuda:0 7539 7620 67 POINT_MESH_EDGE_4_1000_3000_10000_cuda:0 12088 12272 42 POINT_MESH_EDGE_8_100_300_5000_cuda:0 3106 3222 161 POINT_MESH_EDGE_8_100_300_10000_cuda:0 8561 8648 59 POINT_MESH_EDGE_8_100_3000_5000_cuda:0 6932 7021 73 POINT_MESH_EDGE_8_100_3000_10000_cuda:0 24032 24176 21 POINT_MESH_EDGE_8_1000_300_5000_cuda:0 5272 5399 95 POINT_MESH_EDGE_8_1000_300_10000_cuda:0 11348 11430 45 POINT_MESH_EDGE_8_1000_3000_5000_cuda:0 17478 17683 29 POINT_MESH_EDGE_8_1000_3000_10000_cuda:0 25961 26236 20 POINT_MESH_EDGE_16_100_300_5000_cuda:0 8244 8323 61 POINT_MESH_EDGE_16_100_300_10000_cuda:0 18018 18071 28 POINT_MESH_EDGE_16_100_3000_5000_cuda:0 19428 19544 26 POINT_MESH_EDGE_16_100_3000_10000_cuda:0 44967 45135 12 POINT_MESH_EDGE_16_1000_300_5000_cuda:0 7825 7937 64 POINT_MESH_EDGE_16_1000_300_10000_cuda:0 18504 18571 28 POINT_MESH_EDGE_16_1000_3000_5000_cuda:0 65805 66132 8 POINT_MESH_EDGE_16_1000_3000_10000_cuda:0 90885 91089 6 -------------------------------------------------------------------------------- Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- POINT_MESH_FACE_4_100_300_5000_cuda:0 1561 1685 321 POINT_MESH_FACE_4_100_300_10000_cuda:0 2818 2954 178 POINT_MESH_FACE_4_100_3000_5000_cuda:0 15893 16018 32 POINT_MESH_FACE_4_100_3000_10000_cuda:0 16350 16439 31 POINT_MESH_FACE_4_1000_300_5000_cuda:0 3179 3278 158 POINT_MESH_FACE_4_1000_300_10000_cuda:0 2353 2436 213 POINT_MESH_FACE_4_1000_3000_5000_cuda:0 16262 16336 31 POINT_MESH_FACE_4_1000_3000_10000_cuda:0 9334 9448 54 POINT_MESH_FACE_8_100_300_5000_cuda:0 4377 4493 115 POINT_MESH_FACE_8_100_300_10000_cuda:0 9728 9822 52 POINT_MESH_FACE_8_100_3000_5000_cuda:0 26428 26544 19 POINT_MESH_FACE_8_100_3000_10000_cuda:0 42238 43031 12 POINT_MESH_FACE_8_1000_300_5000_cuda:0 3891 3982 129 POINT_MESH_FACE_8_1000_300_10000_cuda:0 5363 5429 94 POINT_MESH_FACE_8_1000_3000_5000_cuda:0 20998 21084 24 POINT_MESH_FACE_8_1000_3000_10000_cuda:0 39711 39897 13 POINT_MESH_FACE_16_100_300_5000_cuda:0 5955 6001 84 POINT_MESH_FACE_16_100_300_10000_cuda:0 12082 12144 42 POINT_MESH_FACE_16_100_3000_5000_cuda:0 44996 45176 12 POINT_MESH_FACE_16_100_3000_10000_cuda:0 73042 73197 7 POINT_MESH_FACE_16_1000_300_5000_cuda:0 8292 8374 61 POINT_MESH_FACE_16_1000_300_10000_cuda:0 19442 19506 26 POINT_MESH_FACE_16_1000_3000_5000_cuda:0 36059 36194 14 POINT_MESH_FACE_16_1000_3000_10000_cuda:0 64644 64822 8 -------------------------------------------------------------------------------- ``` Reviewed By: jcjohnson Differential Revision: D20590462 fbshipit-source-id: 42a39837b514a546ac9471bfaff60eefe7fae829
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- 07 Apr, 2020 1 commit
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Jeremy Reizenstein authored
Summary: Interface and working implementation of ragged KNN. Benchmarks (which aren't ragged) haven't slowed. New benchmark shows that ragged is faster than non-ragged of the same shape. Reviewed By: jcjohnson Differential Revision: D20696507 fbshipit-source-id: 21b80f71343a3475c8d3ee0ce2680f92f0fae4de
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- 06 Apr, 2020 2 commits
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Jeremy Reizenstein authored
Summary: The conda build process generates some files of its own, which we don't want to catch in our test for copyright notices. Reviewed By: nikhilaravi, patricklabatut Differential Revision: D20868566 fbshipit-source-id: 76a786a3eb9a674d59e630cc06f346e8b82258a4
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Jeremy Reizenstein authored
Summary: lint clean again Reviewed By: patricklabatut Differential Revision: D20868775 fbshipit-source-id: ade4301c1012c5c6943186432465215701d635a9
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- 05 Apr, 2020 1 commit
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David Novotny authored
Summary: Allows to initialize a Transform3D object with a batch of user-defined transformation matrices: ``` t = Transform3D(matrix=torch.randn(2, 4, 4)) ``` Reviewed By: nikhilaravi Differential Revision: D20693475 fbshipit-source-id: dccc49b2ca4c19a034844c63463953ba8f52c1bc
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- 03 Apr, 2020 1 commit
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Roman Shapovalov authored
Summary: 1. Introduced weights to Umeyama implementation. This will be needed for weighted ePnP but is useful on its own. 2. Refactored to use the same code for the Pointclouds mask and passed weights. 3. Added test cases with random weights. 4. Fixed a bug in tests that calls the function with 0 points (fails randomly in Pytorch 1.3, will be fixed in the next release: https://github.com/pytorch/pytorch/issues/31421 ). Reviewed By: gkioxari Differential Revision: D20070293 fbshipit-source-id: e9f549507ef6dcaa0688a0f17342e6d7a9a4336c
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- 02 Apr, 2020 1 commit
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David Novotny authored
Summary: Umeyama estimates a rigid motion between two sets of corresponding points. Benchmark output for `bm_points_alignment` ``` Arguments key: [<allow_reflection>_<batch_size>_<dim>_<estimate_scale>_<n_points>_<use_pointclouds>] Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- CorrespodingPointsAlignment_True_1_3_True_100_False 7382 9833 68 CorrespodingPointsAlignment_True_1_3_True_10000_False 8183 10500 62 CorrespodingPointsAlignment_True_1_3_False_100_False 7301 9263 69 CorrespodingPointsAlignment_True_1_3_False_10000_False 7945 9746 64 CorrespodingPointsAlignment_True_1_20_True_100_False 13706 41623 37 CorrespodingPointsAlignment_True_1_20_True_10000_False 11044 33766 46 CorrespodingPointsAlignment_True_1_20_False_100_False 9908 28791 51 CorrespodingPointsAlignment_True_1_20_False_10000_False 9523 18680 53 CorrespodingPointsAlignment_True_10_3_True_100_False 29585 32026 17 CorrespodingPointsAlignment_True_10_3_True_10000_False 29626 36324 18 CorrespodingPointsAlignment_True_10_3_False_100_False 26013 29253 20 CorrespodingPointsAlignment_True_10_3_False_10000_False 25000 33820 20 CorrespodingPointsAlignment_True_10_20_True_100_False 40955 41592 13 CorrespodingPointsAlignment_True_10_20_True_10000_False 42087 42393 12 CorrespodingPointsAlignment_True_10_20_False_100_False 39863 40381 13 CorrespodingPointsAlignment_True_10_20_False_10000_False 40813 41699 13 CorrespodingPointsAlignment_True_100_3_True_100_False 183146 194745 3 CorrespodingPointsAlignment_True_100_3_True_10000_False 213789 231466 3 CorrespodingPointsAlignment_True_100_3_False_100_False 177805 180796 3 CorrespodingPointsAlignment_True_100_3_False_10000_False 184963 185695 3 CorrespodingPointsAlignment_True_100_20_True_100_False 347181 347325 2 CorrespodingPointsAlignment_True_100_20_True_10000_False 363259 363613 2 CorrespodingPointsAlignment_True_100_20_False_100_False 351769 352496 2 CorrespodingPointsAlignment_True_100_20_False_10000_False 375629 379818 2 CorrespodingPointsAlignment_False_1_3_True_100_False 11155 13770 45 CorrespodingPointsAlignment_False_1_3_True_10000_False 10743 13938 47 CorrespodingPointsAlignment_False_1_3_False_100_False 9578 11511 53 CorrespodingPointsAlignment_False_1_3_False_10000_False 9549 11984 53 CorrespodingPointsAlignment_False_1_20_True_100_False 13809 14183 37 CorrespodingPointsAlignment_False_1_20_True_10000_False 14084 15082 36 CorrespodingPointsAlignment_False_1_20_False_100_False 12765 14177 40 CorrespodingPointsAlignment_False_1_20_False_10000_False 12811 13096 40 CorrespodingPointsAlignment_False_10_3_True_100_False 28823 39384 18 CorrespodingPointsAlignment_False_10_3_True_10000_False 27135 27525 19 CorrespodingPointsAlignment_False_10_3_False_100_False 26236 28980 20 CorrespodingPointsAlignment_False_10_3_False_10000_False 42324 45123 12 CorrespodingPointsAlignment_False_10_20_True_100_False 723902 723902 1 CorrespodingPointsAlignment_False_10_20_True_10000_False 220007 252886 3 CorrespodingPointsAlignment_False_10_20_False_100_False 55593 71636 9 CorrespodingPointsAlignment_False_10_20_False_10000_False 44419 71861 12 CorrespodingPointsAlignment_False_100_3_True_100_False 184768 185199 3 CorrespodingPointsAlignment_False_100_3_True_10000_False 198657 213868 3 CorrespodingPointsAlignment_False_100_3_False_100_False 224598 309645 3 CorrespodingPointsAlignment_False_100_3_False_10000_False 197863 202002 3 CorrespodingPointsAlignment_False_100_20_True_100_False 293484 309459 2 CorrespodingPointsAlignment_False_100_20_True_10000_False 327253 366644 2 CorrespodingPointsAlignment_False_100_20_False_100_False 420793 422194 2 CorrespodingPointsAlignment_False_100_20_False_10000_False 462634 485542 2 CorrespodingPointsAlignment_True_1_3_True_100_True 7664 9909 66 CorrespodingPointsAlignment_True_1_3_True_10000_True 7190 8366 70 CorrespodingPointsAlignment_True_1_3_False_100_True 6549 8316 77 CorrespodingPointsAlignment_True_1_3_False_10000_True 6534 7710 77 CorrespodingPointsAlignment_True_10_3_True_100_True 29052 32940 18 CorrespodingPointsAlignment_True_10_3_True_10000_True 30526 33453 17 CorrespodingPointsAlignment_True_10_3_False_100_True 28708 32993 18 CorrespodingPointsAlignment_True_10_3_False_10000_True 30630 35973 17 CorrespodingPointsAlignment_True_100_3_True_100_True 264909 320820 3 CorrespodingPointsAlignment_True_100_3_True_10000_True 310902 322604 2 CorrespodingPointsAlignment_True_100_3_False_100_True 246832 250634 3 CorrespodingPointsAlignment_True_100_3_False_10000_True 276006 289061 2 CorrespodingPointsAlignment_False_1_3_True_100_True 11421 13757 44 CorrespodingPointsAlignment_False_1_3_True_10000_True 11199 12532 45 CorrespodingPointsAlignment_False_1_3_False_100_True 11474 15841 44 CorrespodingPointsAlignment_False_1_3_False_10000_True 10384 13188 49 CorrespodingPointsAlignment_False_10_3_True_100_True 36599 47340 14 CorrespodingPointsAlignment_False_10_3_True_10000_True 40702 50754 13 CorrespodingPointsAlignment_False_10_3_False_100_True 41277 52149 13 CorrespodingPointsAlignment_False_10_3_False_10000_True 34286 37091 15 CorrespodingPointsAlignment_False_100_3_True_100_True 254991 258578 2 CorrespodingPointsAlignment_False_100_3_True_10000_True 257999 261285 2 CorrespodingPointsAlignment_False_100_3_False_100_True 247511 248693 3 CorrespodingPointsAlignment_False_100_3_False_10000_True 251807 263865 3 ``` Reviewed By: gkioxari Differential Revision: D19808389 fbshipit-source-id: 83305a58627d2fc5dcaf3c3015132d8148f28c29
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- 01 Apr, 2020 1 commit
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Patrick Labatut authored
Summary: Similar to D20392526, PLY files without vertices or faces should be allowed: - a PLY with only vertices can represent a point cloud - a PLY without any vertex or face is just empty - a PLY with faces referencing inexistent vertices has invalid data Reviewed By: gkioxari Differential Revision: D20400330 fbshipit-source-id: 35a5f072603fd221f382c7faad5f37c3e0b49bb1
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- 30 Mar, 2020 2 commits
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Jeremy Reizenstein authored
Summary: rename join_meshes to join_meshes_as_batch. Reviewed By: nikhilaravi Differential Revision: D20671293 fbshipit-source-id: e84d6a67d6c1ec28fb5e52d4607db8e92561a4cd
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Jeremy Reizenstein authored
Summary: Flowing of compositing comments Reviewed By: nikhilaravi Differential Revision: D20556707 fbshipit-source-id: 4abdc85e4f65abd41c4a890b6895bc5e95b4576b
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- 29 Mar, 2020 2 commits
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Patrick Labatut authored
Summary: Address black + isort fbsource linter warnings from D20558374 (previous diff) Reviewed By: nikhilaravi Differential Revision: D20558373 fbshipit-source-id: d3607de4a01fb24c0d5269634563a7914bddf1c8
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Jeremy Reizenstein authored
Summary: Run linter after recent changes. Fix long comment in knn.h which clang-format has reflowed badly. Add crude test that code doesn't call deprecated `.type()` or `.data()`. Reviewed By: nikhilaravi Differential Revision: D20692935 fbshipit-source-id: 28ce0308adae79a870cb41a810b7cf8744f41ab8
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- 28 Mar, 2020 1 commit
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Patrick Labatut authored
Summary: OBJ files without vertices or faces should be allowed: - an OBJ with only vertices can represent a point cloud - an OBJ without any vertex or face is just empty - an OBJ with faces referencing inexistent vertices has invalid data Reviewed By: gkioxari Differential Revision: D20392526 fbshipit-source-id: e72c846ff1e5787fb11d527af3fefa261f9eb0ee
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- 26 Mar, 2020 1 commit
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Justin Johnson authored
Summary: Implements K-Nearest Neighbors with C++ and CUDA versions. KNN in CUDA is highly nontrivial. I've implemented a few different versions of the kernel, and we heuristically dispatch to different kernels based on the problem size. Some of the kernels rely on template specialization on either D or K, so we use template metaprogramming to compile specialized versions for ranges of D and K. These kernels are up to 3x faster than our existing 1-nearest-neighbor kernels, so we should also consider swapping out `nn_points_idx` to use these kernels in the backend. I've been working mostly on the CUDA kernels, and haven't converged on the correct Python API. I still want to benchmark against FAISS to see how far away we are from their performance. Reviewed By: bottler Differential Revision: D19729286 fbshipit-source-id: 608ffbb7030c21fe4008f330522f4890f0c3c21a
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- 23 Mar, 2020 1 commit
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Jeremy Reizenstein authored
Summary: use assertClose in some tests, which enforces shape equality. Fixes some small problems, including graph_conv on an empty graph. Reviewed By: nikhilaravi Differential Revision: D20556912 fbshipit-source-id: 60a61eafe3c03ce0f6c9c1a842685708fb10ac5b
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- 22 Mar, 2020 1 commit
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Georgia Gkioxari authored
Summary: Run `/dev/linter.sh` to fix linting Reviewed By: nikhilaravi Differential Revision: D20584037 fbshipit-source-id: 69e45b33d22e3d54b6d37c3c35580bb3e9dc50a5
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- 20 Mar, 2020 1 commit
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Georgia Gkioxari authored
Summary: Replace view with reshape, add check for nans before mesh sampling Reviewed By: nikhilaravi Differential Revision: D20548456 fbshipit-source-id: c4e1b88e033ecb8f0f3a8f3a33a04ce13a5b5043
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- 19 Mar, 2020 1 commit
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Olivia authored
Summary: Code for accumulating points in the z-buffer in three ways: 1. weighted sum 2. normalised weighted sum 3. alpha compositing Pull Request resolved: https://github.com/fairinternal/pytorch3d/pull/4 Reviewed By: nikhilaravi Differential Revision: D20522422 Pulled By: gkioxari fbshipit-source-id: 5023baa05f15e338f3821ef08f5552c2dcbfc06c
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- 18 Mar, 2020 2 commits
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Nikhila Ravi authored
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Dave Greenwood authored
Summary: Create extrinsic parameters from eye point. Create the rotation and translation from an eye point, look-at point and up vector. see: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluLookAt.xml It is arguably easier to initialise a camera position as a point in the world rather than an angle. Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/65 Reviewed By: bottler Differential Revision: D20419652 Pulled By: nikhilaravi fbshipit-source-id: 9caa1330860bb8bde1fb5c3864ed4cde836a5d19
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- 17 Mar, 2020 2 commits
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Patrick Labatut authored
Summary: Enable spelling linter for Markdown, reStructuredText and IPython notebooks under `fbcode/vision/fair`. Apply suggested fixes. Reviewed By: ppwwyyxx Differential Revision: D20495298 fbshipit-source-id: 95310c7b51f9fa68ba2aa34ecc39a874da36a75c
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Nikhila Ravi authored
Summary: Fix errors raised by issue on GitHub - extending mesh textures + rendering with Gourad and Phong shaders. https://github.com/facebookresearch/pytorch3d/issues/97 Reviewed By: gkioxari Differential Revision: D20319610 fbshipit-source-id: d1c692ff0b9397a77a9b829c5c731790de70c09f
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- 16 Mar, 2020 1 commit
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Jeremy Reizenstein authored
Summary: Ensure copyright header consistency and translation unit name uniqueness. Reviewed By: nikhilaravi Differential Revision: D20438802 fbshipit-source-id: 9820cfe4c6efab016a0a8589dfa24bb526692f83
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- 15 Mar, 2020 1 commit
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Nikhila Ravi authored
Summary: Added a padded to packed utils function which takes either split sizes or a padding value to remove padded elements from a tensor. Reviewed By: gkioxari Differential Revision: D20454238 fbshipit-source-id: 180b807ff44c74c4ee9d5c1ac3b5c4a9b4be57c7
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- 13 Mar, 2020 1 commit
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Patrick Labatut authored
Summary: Add more complex mesh I/O benchmarks: simple yet non-trivial procedural donut mesh Reviewed By: nikhilaravi Differential Revision: D20390726 fbshipit-source-id: b28b7e3a7f1720823c6bd24faabf688bb0127b7d
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- 12 Mar, 2020 4 commits
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Patrick Labatut authored
Summary: Use more realistic number of vertices / faces in benchmarks: in typical meshes, |F| ~ 2 |V| (follows from Euler formula + triangles as faces) Reviewed By: nikhilaravi Differential Revision: D20390722 fbshipit-source-id: d615e5810d6f4521391963b2573497c08a58db80
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Patrick Labatut authored
Summary: Rename mesh I/O benchmarking methods: always (re-)create file-like object and directly return a lambda Reviewed By: nikhilaravi Differential Revision: D20390723 fbshipit-source-id: b45236360869cccdf3d5458a0aafb3ebe269babe
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Patrick Labatut authored
Summary: Rename mesh I/O benchmarks and associated methods: - add `simple` qualifier (benchmark on more realistic mesh data to be added later) - align naming between OBJ and PLY - prefix with `bm_` to make the benchmarking purpose clear(er) Reviewed By: nikhilaravi Differential Revision: D20390764 fbshipit-source-id: 7714520abfcfe1125067f3c52f7ce19bca359574
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Patrick Labatut authored
Summary: The shebang line `#!<path to interpreter>` is only required for Python scripts, so remove it on source files for class or function definitions. Additionally explicitly mark as executable the actual Python scripts in the codebase. Reviewed By: nikhilaravi Differential Revision: D20095778 fbshipit-source-id: d312599fba485e978a243292f88a180d71e1b55a
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- 11 Mar, 2020 1 commit
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Jeremy Reizenstein authored
Summary: Make Meshes.__getitem__ carry texture information to the new mesh. Reviewed By: gkioxari Differential Revision: D20283976 fbshipit-source-id: d9ee0580c11ac5b4384df9d8158a07e6eb8d00fe
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- 06 Mar, 2020 1 commit
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Nikhila Ravi authored
Summary: ## Updates - Defined the world and camera coordinates according to this figure. The world coordinates are defined as having +Y up, +X left and +Z in. {F230888499} - Removed all flipping from blending functions. - Updated the rasterizer to return images with +Y up and +X left. - Updated all the mesh rasterizer tests - The expected values are now defined in terms of the default +Y up, +X left - Added tests where the triangles in the meshes are non symmetrical so that it is clear which direction +X and +Y are ## Questions: - Should we have **scene settings** instead of raster settings? - To be more correct we should be [z clipping in the rasterizer based on the far/near clipping planes](https://github.com/ShichenLiu/SoftRas/blob/master/soft_renderer/cuda/soft_rasterize_cuda_kernel.cu#L400) - these values are also required in the blending functions so should we make these scene level parameters and have a scene settings tuple which is available to the rasterizer and shader? Reviewed By: gkioxari Differential Revision: D20208604 fbshipit-source-id: 55787301b1bffa0afa9618f0a0886cc681da51f3
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