GitLab

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

Summary: Add some more validation of a list of texture maps. Move the initialisation of maps_padded to a new function to reduce complexity.

Reviewed By: nikhilaravi

Differential Revision: D29263443

fbshipit-source-id: 153e262d2e9af21090570768020fca019e364024

Summary: The TexturesUV class supports an arbitrary number of channels. In one place in join_scene we unnecessarily assumed the usual value, 3.

Reviewed By: patricklabatut

Differential Revision: D29133477

fbshipit-source-id: de8eb15fdd55675da084634d9d99e2a3f4d35401

Summary: Comments in textures.py were inconsistent in describing the number of channels, sometimes C, sometimes D, sometimes 3. Now always C.

Reviewed By: patricklabatut

Differential Revision: D29263435

fbshipit-source-id: 7c1260c164c52852dc9e14d0e12da4cfb64af408

Summary:
Build for pytorch 1.9, and make it the only mac build. Not testing on cuda 11.1, because of annoying failures which are restricted to certain hardware.

Also update cuda driver in CI tests.

Reviewed By: patricklabatut

Differential Revision: D29302314

fbshipit-source-id: 78def378adb9d7aa287abdc5ac0af269e3ba3625

Summary: include_package_data does not work well in the presence of built extensions, and the OSS build hasn't been working for a few days since #593 was merged.

Reviewed By: patricklabatut

Differential Revision: D29302315

fbshipit-source-id: db7e46f8c4593743c3522087979592f9989c7c6b

Differential Revision: D29301375

fbshipit-source-id: a061a2fb7c7f2fd2038e31b28a5bdf0bfe1676f6

Summary: Add license linting for PyTorch3D

Reviewed By: zertosh

Differential Revision: D29001800

fbshipit-source-id: 3099cd6dac58dc5403f768aafde491b74fbc4dc2

Summary: License lint codebase

Reviewed By: theschnitz

Differential Revision: D29001799

fbshipit-source-id: 5c59869911785b0181b1663bbf430bc8b7fb2909