GitLab

Summary:
Torch C++ extension for Marching Cubes

- Add torch C++ extension for marching cubes. Observe a speed up of ~255x-324x speed up (over varying batch sizes and spatial resolutions)

- Add C++ impl in existing unit-tests.

(Note: this ignores all push blocking failures!)

Reviewed By: kjchalup

Differential Revision: D39590638

fbshipit-source-id: e44d2852a24c2c398e5ea9db20f0dfaa1817e457

Summary: Overhaul of marching_cubes_naive for better performance and to avoid relying on unstable hashing. In particular, instead of hashing vertex positions, we index each interpolated vertex with its corresponding edge in the 3d grid.

Reviewed By: kjchalup

Differential Revision: D39419642

fbshipit-source-id: b5fede3525c545d1d374198928dfb216262f0ec0

Summary:
Threaded the for loop:
```
for (int yi = 0; yi < H; ++yi) {...}
```
in function `RasterizeMeshesNaiveCpu()`.
Chunk size is approx equal.

Reviewed By: bottler

Differential Revision: D40063604

fbshipit-source-id: 09150269405538119b0f1b029892179501421e68

Summary: Loads the whole dataset and moves it to the device and sends it to for sampling to enable full dataset heterogeneous raysampling.

Reviewed By: bottler

Differential Revision: D39263009

fbshipit-source-id: c527537dfc5f50116849656c9e171e868f6845b1

Summary:
Changed ray_sampler and metrics to be able to use mixed frame raysampling.

Ray_sampler now has a new member which it passes to the pytorch3d raysampler.
If the raybundle is heterogeneous metrics now samples images by padding xys first. This reduces memory consumption.

Reviewed By: bottler, kjchalup

Differential Revision: D39542221

fbshipit-source-id: a6fec23838d3049ae5c2fd2e1f641c46c7c927e3

Summary: new implicitronRayBundle with added cameraIDs and camera counts. Added to enable a single raybundle inside Implicitron and easier extension in the future. Since RayBundle is named tuple and RayBundleHeterogeneous is dataclass and RayBundleHeterogeneous cannot inherit RayBundle. So if there was no ImplicitronRayBundle every function that uses RayBundle now would have to use Union[RayBundle, RaybundleHeterogeneous] which is confusing and unecessary complicated.

Reviewed By: bottler, kjchalup

Differential Revision: D39262999

fbshipit-source-id: ece160e32f6c88c3977e408e966789bf8307af59

Summary:
Added heterogeneous raysampling to pytorch3d raysampler, different cameras are sampled different number of times.

 It now returns RayBundle if heterogeneous raysampling is off and new RayBundleHeterogeneous (with added fields `camera_ids` and `camera_counts`).  Heterogeneous raysampling is on if `n_rays_total` is not None.

Reviewed By: bottler

Differential Revision: D39542222

fbshipit-source-id: d3d88d822ec7696e856007c088dc36a1cfa8c625

Summary:
This is quite a thin wrapper – not sure we need it. The motivation is that `Transform3d` is not as matrix-centric now, it can be converted to SE(3) logarithm equally easily.

It simplifies things like averaging cameras and getting axis-angle of camera rotation (previously, one would need to call `se3_log_map(cameras.get_world_to_camera_transform().get_matrix())`), now one fewer thing to call / discover.

Reviewed By: bottler

Differential Revision: D39928000

fbshipit-source-id: 85248d5b8af136618f1d08791af5297ea5179d19

Summary:
`get_rotation_to_best_fit_xy` is useful to expose externally, however there was a bug (which we probably did not care about for our use case): it could return a rotation matrix with det(R) == −1.
The diff fixes that, and also makes centroid optional (it can be computed from points).

Reviewed By: bottler

Differential Revision: D39926791

fbshipit-source-id: 5120c7892815b829f3ddcc23e93d4a5ec0ca0013

Differential Revision: D39894833

fbshipit-source-id: 95a32d9cb352c5fea345c6947194ad52971d4fe9

Summary: Any module can be subscribed to step updates from the training loop. Once the training loop publishes a step the voxel grid changes its dimensions. During the construction of VoxelGridModule and its parameters it does not know which is the resolution that will be loaded from checkpoint, so before the checkpoint loading a hook runs which changes the VoxelGridModule's parameters to match shapes of the loaded checkpoint.

Reviewed By: bottler

Differential Revision: D39026775

fbshipit-source-id: 0d359ea5c8d2eda11d773d79c7513c83585d5f17

Summary:
User reported that cloned cameras fail to save. The error with latest PyTorch is

```
pickle.PicklingError: Can't pickle ~T_destination: attribute lookup T_destination on torch.nn.modules.module failed
```

This fixes it.

Reviewed By: btgraham

Differential Revision: D39692258

fbshipit-source-id: 75bbf3b8dfa0023dc28bf7d4cc253ca96e46a64d

Summary: Adding a checkerboard mesh utility to Pytorch3d.

Reviewed By: bottler

Differential Revision: D39718916

fbshipit-source-id: d43cd30e566b5db068bae6eed0388057634428c8

Summary:
We need to make packing/unpacking in 2 places for mixed frame raysampling (metrics and raysampler) but those tensors that need to be unpacked/packed have more than two dimensions.
I could have reshaped and stored dimensions but this seems to just complicate code there with something which packed_to_padded should support.
I could have made a separate function for implicitron but it would confusing to have two different padded_to_packed functions inside pytorch3d codebase one of which does packing for (b, max) and (b, max, f) and the other for (b, max, …)

Reviewed By: bottler

Differential Revision: D39729026

fbshipit-source-id: 2bdebf290dcc6c316b7fe1aeee49bbb5255e508c

Summary: The implicit function and its members and internal working

Reviewed By: kjchalup

Differential Revision: D38829764

fbshipit-source-id: 28394fe7819e311ed52c9defc9a1b29f37fbc495

Summary: Call expand_args_field when instantiating an object.

Reviewed By: shapovalov

Differential Revision: D39541931

fbshipit-source-id: de8e1038927ff0112463394412d5d8c26c4a1e17

Summary: Allow using the new `foreach` option on optimizers.

Reviewed By: shapovalov

Differential Revision: D39694843

fbshipit-source-id: 97109c245b669bc6edff0f246893f95b7ae71f90

Summary: Add the ability to process arbitrary point shapes `[n_grids, ..., 3]` instead of  only `[n_grids, n_points, 3]`.

Reviewed By: bottler

Differential Revision: D39574373

fbshipit-source-id: 0a9ecafe9ea58cd8f909644de43a1185ecf934f4

Summary:
Added export of UV textures to IO.save_mesh in Pytorch3d
MeshObjFormat now passes verts_uv, faces_uv, and texture_map as input to save_obj

TODO: check if TexturesUV.verts_uv_list or TexturesUV.verts_uv_padded() should be passed to save_obj

IO.save_mesh(obj_file, meshes, decimal_places=2) should be IO().save_mesh(obj_file, meshes, decimal_places=2)

Reviewed By: bottler

Differential Revision: D39617441

fbshipit-source-id: 4628b7f26f70e38c65f235852b990c8edb0ded23

Summary:
A significant speedup (e.g. >2% of a forward pass).

Move NDCMultinomialRaysampler parts of AbstractMaskRaySampler to members instead of living in a dict. The dict was hiding them from the nn.Module system so their _xy_grid members were remaining on the CPU. Therefore they were being copied to the GPU in every forward pass.

(We couldn't easily use a ModuleDict here because the enum keys are not strs.)

Reviewed By: shapovalov

Differential Revision: D39668589

fbshipit-source-id: 719b88e4a08fd7263a284e0ab38189e666bd7e3a

Summary:
- indicate location of OmegaConf.structured failures
- split the data gathering from enable_get_default_args to ease experimenting with it.
- comment fixes.
- nicer error when a_class_type has weird type.

Reviewed By: kjchalup

Differential Revision: D39434447

fbshipit-source-id: b80c7941547ca450e848038ef5be95b7ebbe8f3e

Summary: Fixes #1326

Reviewed By: kjchalup

Differential Revision: D39259697

fbshipit-source-id: 51392f4cc4a956165a62901cb115fcefe0e17277

Summary: Various fixes to get visualize_reconstruction running, and an interactive test for it.

Reviewed By: kjchalup

Differential Revision: D39286691

fbshipit-source-id: 88735034cc01736b24735bcb024577e6ab7ed336

Summary: allow TESTIT to complete properly

Reviewed By: kjchalup

Differential Revision: D39280546

fbshipit-source-id: 38fe69988a736e32dbe78d1d05e6d8421353854a

Summary: Workaround for oddity with new hydra.

Reviewed By: davnov134

Differential Revision: D39280639

fbshipit-source-id: 76e91947f633589945446db93cf2dbc259642f8a

Summary: Followup to D39259775 (https://github.com/facebookresearch/pytorch3d/commit/438c194ec61b34b377727c97d5922897546c581d)

Reviewed By: davnov134

Differential Revision: D39271753

fbshipit-source-id: 5cf11c1210369e1762ef0d5d0c7b60336711b261

Summary: Samples batches without replacement if the number of samples is not specified. This makes sure that we always iterate over the whole dataset in each epoch.

Reviewed By: bottler

Differential Revision: D39270786

fbshipit-source-id: 0c983d1f5e0af711463abfb23939bc0d2b5172a0

Summary: Fixes bugs in render_flyaround

Reviewed By: bottler

Differential Revision: D39271932

fbshipit-source-id: 07e6c9ee07ba91feb437b725af0a8942fd98db0b

Summary:
Move the flyaround rendering function into core implicitron.
The unblocks an example in the facebookresearch/co3d repo.

Reviewed By: bottler

Differential Revision: D39257801

fbshipit-source-id: 6841a88a43d4aa364dd86ba83ca2d4c3cf0435a4

Summary:
The self._stratified_sampling attribute is always overridden unless stratified_sampling is explicitly set to None. However, the desired default behavior is that the value of self._stratified_sampling is used unless the argument stratified_sampling is set to True/False. Changing the default to None achieves this

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1324

Reviewed By: bottler

Differential Revision: D39259775

Pulled By: davnov134

fbshipit-source-id: e01bb747ac80c812eb27bf22e67f5e14f29acadd

Summary: On each call of the stats.update the object calculates current average iteration time by getting time elapsed from the time_start and then dividing it by the current number of steps. It saves the result to AverageMeter object which when queried returns the average of things saved, so the time is averaged twice which biases it towards the start value (which is often larger).

Reviewed By: kjchalup

Differential Revision: D39206989

fbshipit-source-id: ccab5233d7aaca1ac4fd626fb329b83c7c0d6af9

Summary: Currently some implicit functions in implicitron take a raybundle, others take ray_points_world. raybundle is what they really need. However, the raybundle is going to become a bit more flexible later, as it will contain different numbers of rays for each camera.

Reviewed By: bottler

Differential Revision: D39173751

fbshipit-source-id: ebc038e426d22e831e67a18ba64655d8a61e1eb9

Reviewed By: stroxler

Differential Revision: D39230408

fbshipit-source-id: dce7a461507ee7199f588341773096c06051b2dc

Summary: Update the docstring for try_get_projection_transform on the API design.

Reviewed By: kjchalup

Differential Revision: D39227333

fbshipit-source-id: c9d0e625735d4972116d1f71865fb9b763e684de

Summary: Fixed the typing for try_get_projection_transform.

Reviewed By: kjchalup

Differential Revision: D39211811

fbshipit-source-id: ef05c6b545831d1a9f3c754aeb02fb9776e360ed

Reviewed By: kjchalup

Differential Revision: D39198333

fbshipit-source-id: 3f4ebcf625215f21d165073837578ff69b05f72d

Summary:
1) Update rasterizer/point rasterizer to accommodate fisheyecamera. Specifically, transform_points is in placement of explicit transform compositions.

2) In rasterizer unittests, update corresponding tests for rasterizer and point_rasterizer. Address comments to test fisheye against perspective camera when distortions are turned off.

3) Address comments to add end2end test for fisheyecameras. In test_render_meshes, fisheyecameras are added to camera enuerations whenever possible.

4) Test renderings with fisheyecameras of different params on cow mesh.

5) Use compositions for linear cameras whenever possible.

Reviewed By: kjchalup

Differential Revision: D38932736

fbshipit-source-id: 5b7074fc001f2390f4cf43c7267a8b37fd987547

Summary:
Amend FisheyeCamera by adding tests for all
combination of params and for different batch_sizes.

Reviewed By: kjchalup

Differential Revision: D39176747

fbshipit-source-id: 830d30da24beeb2f0df52db0b17a4303ed53b59c

Summary: Remove the compat functions eigh, solve, lstsq, and qr. Migrate callers to use torch.linalg directly.

Reviewed By: bottler

Differential Revision: D39172949

fbshipit-source-id: 484230a553237808f06ee5cdfde64651cba91c4c

Summary: A dummy value in test_opengl_utils seems to be able to break tests in test_mesh_renderer_opengl{,_to}.

Reviewed By: kjchalup

Differential Revision: D39173275

fbshipit-source-id: 83b15159f70135ea575d5085c7b6b37badd6e49e