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  1. 17 Apr, 2020 1 commit
    • Roman Shapovalov's avatar
      Efficient PnP. · 04d8bf6a
      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
      04d8bf6a
  3. 06 Apr, 2020 1 commit
    • Jeremy Reizenstein's avatar
      fix recent lint · b87058c6
      Jeremy Reizenstein authored 
      Summary: lint clean again

Reviewed By: patricklabatut

Differential Revision: D20868775

fbshipit-source-id: ade4301c1012c5c6943186432465215701d635a9
      b87058c6
  5. 03 Apr, 2020 1 commit
    • Roman Shapovalov's avatar
      Weighted Umeyama. · e37085d9
      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
      e37085d9
  7. 29 Mar, 2020 1 commit
    • Patrick Labatut's avatar
      Address black + isort fbsource linter warnings · d57daa6f
      Patrick Labatut authored 
      Summary: Address black + isort fbsource linter warnings from D20558374 (previous diff)

Reviewed By: nikhilaravi

Differential Revision: D20558373

fbshipit-source-id: d3607de4a01fb24c0d5269634563a7914bddf1c8
      d57daa6f
  9. 12 Mar, 2020 1 commit
    • Patrick Labatut's avatar
      Remove shebang line when not strictly required · 3c71ab64
      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
      3c71ab64
  11. 04 Mar, 2020 1 commit
    • Georgia Gkioxari's avatar
      pointcloud structure · 767d68a3
      Georgia Gkioxari authored 
      Summary:
Revisions to Poincloud data structure with added normals

The biggest changes form the previous version include:
a) If the user provides tensor inputs, we make no assumption about padding. Padding is only for internal use for us to convert from list to padded
b) If features are not provided or if the poincloud is empty, all forms of features are None. This is so that we don't waste memory on holding dummy tensors.

Reviewed By: nikhilaravi

Differential Revision: D19791851

fbshipit-source-id: 7e182f7bb14395cb966531653f6dd6b328fd999c
      767d68a3
  13. 23 Jan, 2020 1 commit