GitLab

Summary:
Implementation of ball query from PointNet++.  This function is similar to KNN (find the neighbors in p2 for all points in p1). These are the key differences:
-  It will return the **first** K neighbors within a specified radius as opposed to the **closest** K neighbors.
- As all the points in p2 do not need to be considered to find the closest K, the algorithm is much faster than KNN when p2 has a large number of points.
- The neighbors are not sorted
- Due to the radius threshold it is not guaranteed that there will be K neighbors even if there are more than K points in p2.
- The padding value for `idx` is -1 instead of 0.

# Note:
- Some of the code is very similar to KNN so it could be possible to modify the KNN forward kernels to support ball query.
- Some users might want to use kNN with ball query - for this we could provide a wrapper function around the current `knn_points` which enables applying the radius threshold afterwards as an alternative. This could be called `ball_query_knn`.

Reviewed By: jcjohnson

Differential Revision: D30261362

fbshipit-source-id: 66b6a7e0114beff7164daf7eba21546ff41ec450

Summary: New test that notes and tutorials are listed in the website metadata, so that they will be included in the website build.

Reviewed By: nikhilaravi

Differential Revision: D30223799

fbshipit-source-id: 2dca9730b54e68da2fd430a7b47cb7e18814d518

Summary: Recent additions need to be included.

Reviewed By: nikhilaravi

Differential Revision: D30223717

fbshipit-source-id: 4b29a4132ea6fb7c1a530aac5d1e36aa61c663bb

Differential Revision: D30222339

fbshipit-source-id: 97d498df72ef897b8dc2405764e3ffd432082e3c

Summary: Fix to resolve GitHub issue #796 - the cameras were being passed in the renderer forward pass instead of at initialization. The rasterizer was correctly using the cameras passed in the `kwargs` for the projection, but the `cameras` are still part of the `kwargs` for the `get_screen_to_ndc_transform` and `get_ndc_to_screen_transform` functions which is causing issues about duplicate arguments.

Reviewed By: bottler

Differential Revision: D30175679

fbshipit-source-id: 547e88d8439456e728fa2772722df5fa0fe4584d

Summary: PyTorch3D version 0.5.0

Reviewed By: patricklabatut

Differential Revision: D29538174

fbshipit-source-id: 332516faa1d8e7bfa7c74ec3fecddc55439e2550

Summary: At the next release, the prebuilt PyTorch3D wheels will depend on PyTorch 1.9.0. Update the tutorials to expect this.

Reviewed By: nikhilaravi

Differential Revision: D29614450

fbshipit-source-id: 39978a6a55b62fb7c7e62aaa8f138e47cadd631e

Summary: New Python, new PyTorches.

Reviewed By: patricklabatut

Differential Revision: D29538175

fbshipit-source-id: f7086ef84a2993c760a1b1f668a3336e898c801e

Summary: Restore compatibility with PyTorch 1.4 and 1.5, and a few lint fixes.

Reviewed By: patricklabatut

Differential Revision: D30048115

fbshipit-source-id: ee05efa7c625f6079fb06a3cc23be93e48df9433

Reviewed By: wynsmart

Differential Revision: D30065248

fbshipit-source-id: 600915ab43d3d6d4846f60f976391f9dc1d77d10

Summary:
API fix for NDC/screen cameras and compatibility with PyTorch3D renderers.

With this new fix:
* Users can define cameras and `transform_points` under any coordinate system conventions. The transformation applies the camera K and RT to the input points, not regarding for PyTorch3D conventions. So this makes cameras completely independent from PyTorch3D renderer.

* Cameras can be defined either in NDC space or screen space. For existing ones, FoV cameras are in NDC space. Perspective/Orthographic can be defined in NDC or screen space.

* The interface with PyTorch3D renderers happens through `transform_points_ndc` which transforms points to the NDC space and assumes that input points are provided according to PyTorch3D conventions.

* Similarly, `transform_points_screen` transforms points to screen space and again assumes that input points are under PyTorch3D conventions.

* For Orthographic/Perspective cameras, if they are defined in screen space, the `get_ndc_camera_transform` allows points to be converted to NDC for use for the renderers.

Reviewed By: nikhilaravi

Differential Revision: D26932657

fbshipit-source-id: 1a964e3e7caa54d10c792cf39c4d527ba2fb2e79

Summary: This fixes a recently introduced circular import: the problem went unnoticed by having `pytorch3d.renderer` imported first...

Reviewed By: bottler

Differential Revision: D29686235

fbshipit-source-id: 4b9f2faecec2cc8347ee259cfc359dc9e4f67784

Summary: Remove `pyre-fixme` and `pyre-ignore` and fix the type errors.

Reviewed By: kandluis

Differential Revision: D29899546

fbshipit-source-id: dc8314f314bbc8acc002b8dbf21013cf3bafe65d

Summary: This changes only documentation. We want to be explicit that ray directions are not normalised (nor assumed to be normalised) but their magnitude is used.

Reviewed By: nikhilaravi

Differential Revision: D29845210

fbshipit-source-id: b81fb3da13a42ad20e8721ed5271fd4f3d8f5acb

Summary: Use PathManager for checking file existence, rather than assuming the path is a local file, in a couple of cases.

Reviewed By: patricklabatut

Differential Revision: D29734621

fbshipit-source-id: e2236a7c2c50ba6916936a4d786abd601205b519

Summary: A bad env var check meant these tests were not being run. Fix that, and fix the copyright test for the new message format.

Reviewed By: patricklabatut

Differential Revision: D29734562

fbshipit-source-id: a1a9bb68901b09c71c7b4ff81a04083febca8d50

Summary:
# Background
There is an unstable error during training (it can happen after several minutes or after several hours).
The error is connected to `torch.det()` function in  `_check_valid_rotation_matrix()`.

if I remove the function `torch.det()` in `_check_valid_rotation_matrix()` or remove the whole functions `_check_valid_rotation_matrix()` the error is disappeared (D29555876).

# Solution
Replace `torch.det()` with manual implementation for 3x3 matrix.

Reviewed By: patricklabatut

Differential Revision: D29655924

fbshipit-source-id: 41bde1119274a705ab849751ece28873d2c45155

Summary:
# Make `transform3d.py` a little bit better (performance and code quality)

## 1. Add decorator `torch.no_grad()` to the function `_check_valid_rotation_matrix()`

Function `_check_valid_rotation_matrix()` is needed to identify errors during forward pass only, it's not used for gradients.

## 2. Replace two calls `to` with the single one

Reviewed By: bottler

Differential Revision: D29656501

fbshipit-source-id: 4419e24dbf436c1b60abf77bda4376fb87a593be

Summary:
Context: in the code we are releasing with CO3D dataset, we use  `cuda()` on TensorProperties like Pointclouds and Cameras where we recursively move batch to a GPU. It would be good to push it to a release so we don’t need to depend on the nightly build.

Additionally, I aligned the logic of `.to("cuda")` without device index to the one of `torch.Tensor` where the current device is populated to index. It should not affect any actual use cases but some tests had to be changed.

Reviewed By: bottler

Differential Revision: D29659529

fbshipit-source-id: abe58aeaca14bacc68da3e6cf5ae07df3353e3ce

Summary: An early-return test for gradient calculation did not include the opacity gradient calculation - hence would also return early without calculating gradients even if opacity gradients are required.

Reviewed By: bottler

Differential Revision: D29505684

fbshipit-source-id: 575e820b8f58b19476b2fe3288702806733e840b

Summary: This commit adds a new camera conversion function for OpenCV style parameters to Pulsar parameters to the library. Using this function it addresses a bug reported here: https://fb.workplace.com/groups/629644647557365/posts/1079637302558095, by using the PyTorch3D->OpenCV->Pulsar chain instead of the original direct conversion function. Both conversions are well-tested and an additional test for the full chain has been added, resulting in a more reliable solution requiring less code.

Reviewed By: patricklabatut

Differential Revision: D29322106

fbshipit-source-id: 13df13c2e48f628f75d9f44f19ff7f1646fb7ebd

Summary: Use rotation matrices for OpenCV / PyTorch3D conversions: this avoids hiding issues with conversions to / from axis-angle vectors and ensure new conversion functions have a consistent interface.

Reviewed By: bottler, classner

Differential Revision: D29634099

fbshipit-source-id: 40b28357914eb563fedea60a965dcf69e848ccfa

Differential Revision: D29573014

fbshipit-source-id: 87083e30d757fcceb4e380edc9973e07e6da6c76

Summary: Fixes #514, so we don't assume user of the tutorial has access to utils.

Reviewed By: nikhilaravi

Differential Revision: D29557294

fbshipit-source-id: 10ac994be65df0822d3ee4e9d690189ff13074a2

Summary: Avoid using old xcode which CircleCI say is deprecated.

Reviewed By: patricklabatut

Differential Revision: D29538176

fbshipit-source-id: 1e2ae4845d42365c778536446958966bbecf188c

Summary: Extends plotly_vis to visualize `RayBundle`s.

Reviewed By: patricklabatut

Differential Revision: D29014098

fbshipit-source-id: 4dee426510a1fa53d4afefbe1bcdd003684c9932

Summary: Enable this benchmark to be run on its own, like others.

Reviewed By: patricklabatut

Differential Revision: D29522846

fbshipit-source-id: c7b3b5c9a0fcdeeb79d8b2ec197684b4380aa547

Summary: Fixing recent lint problems.

Reviewed By: patricklabatut

Differential Revision: D29522647

fbshipit-source-id: 9bd89fbfa512ecd7359ec355cf12b16fb7024b47

Summary: Add missing common module to auto-generated documentation

Reviewed By: nikhilaravi

Differential Revision: D29429687

fbshipit-source-id: fcbd02bda959b0f5674c344d17ce3f36ac4b85ae

Differential Revision: D29458533

fbshipit-source-id: d9ef216fdbb677e49371ad91ea5e9355146c1c52

Summary: solve and lstsq have moved around in torch. Cope with both.

Reviewed By: patricklabatut

Differential Revision: D29302316

fbshipit-source-id: b34f0b923e90a357f20df359635929241eba6e74

Summary: Deprecate the `so3_exponential_map()` function in favor of its alias `so3_exp_map()`: this aligns with the naming of `so3_log_map()` and the recently introduced `se3_exp_map()` / `se3_log_map()` pair.

Reviewed By: bottler

Differential Revision: D29329966

fbshipit-source-id: b6f60b9e86b2995f70b1fbeb16f9feea05c55de9

Summary: More type annotations: device, shaders, pluggable I/O, stats in NeRF project, cameras, textures, etc...

Reviewed By: nikhilaravi

Differential Revision: D29327396

fbshipit-source-id: cdf0ceaaa010e22423088752688c8dd81f1acc3c

Summary: Add functionality to to save an `.obj` file with associated UV textures: `.png` image and `.mtl` file as well as saving verts_uvs and faces_uvs to the `.obj` file.

Reviewed By: bottler

Differential Revision: D29337562

fbshipit-source-id: 86829b40dae9224088b328e7f5a16eacf8582eb5

Summary: Annotate the (return type of the) following dunder functions across the codebase: `__init__()`, `__len__()`, `__getitem__()`

Reviewed By: nikhilaravi

Differential Revision: D29001801

fbshipit-source-id: 928d9e1c417ffe01ab8c0445311287786e997c7c

Differential Revision: D29360359

fbshipit-source-id: 9e91e8499a23e30a5fc39f8f6444b2db9f6b4142

Summary:
Refactor of all functions to compute laplacian matrices in one file.
Support for:
* Standard Laplacian
* Cotangent Laplacian
* Norm Laplacian

Reviewed By: nikhilaravi

Differential Revision: D29297466

fbshipit-source-id: b96b88915ce8ef0c2f5693ec9b179fd27b70abf9

Summary: This diff implements the inverse of D28992470 (https://github.com/facebookresearch/pytorch3d/commit/8006842f2a5ab1546a90797a6394f875adce045c): a function to extract OpenCV convention camera parameters from a PyTorch3D `PerspectiveCameras` object. This is the first part of the new PyTorch3d<>OpenCV<>Pulsar conversion functions.

Reviewed By: patricklabatut

Differential Revision: D29278411

fbshipit-source-id: 68d4555b508dbe8685d8239443f839d194cc2484

Summary:
Get rid of pyre fixmes related to importing a native module:
- add stub file for the `_C` native extension to the internal typeshed
- add initial annotations to the new stub file
- remove the now unnecessary pyre ignores

Reviewed By: nikhilaravi

Differential Revision: D28929467

fbshipit-source-id: 6525e15c8f27215a3ff6f78392925fd0ed6ec2ac

Summary:
Github action to close issues/PRs that are not labelled with "enhancement" or "how-to" if they have not had any activity in 30 days.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/721

Reviewed By: bottler

Differential Revision: D29309817

Pulled By: nikhilaravi

fbshipit-source-id: 039f6d4f29e9d04c01f59d145317a34ad75026a5