GitLab

Summary:
There are a couple of options for supporting non square images:
1) NDC stays at [-1, 1] in both directions with the distance calculations all modified by (W/H). There are a lot of distance based calculations (e.g. triangle areas for barycentric coordinates etc) so this requires changes in many places.
2) NDC is scaled by (W/H) so the smallest side has [-1, 1]. In this case none of the distance calculations need to be updated and only the pixel to NDC calculation needs to be modified.

I decided to go with option 2 after trying option 1!

API Changes:
- Image size can now be specified optionally as a tuple

TODO:
- add a benchmark test for the non square case.

Reviewed By: jcjohnson

Differential Revision: D24404975

fbshipit-source-id: 545efb67c822d748ec35999b35762bce58db2cf4

Summary: Taubin Smoothing for filtering meshes and making them smoother. Taubin smoothing is an iterative approach.

Reviewed By: nikhilaravi

Differential Revision: D24751149

fbshipit-source-id: fb779e955f1a1f6750e704f1b4c6dfa37aebac1a

Summary: Move icp_data.pth to tests/data

Reviewed By: bottler

Differential Revision: D25012575

fbshipit-source-id: 9252d2eeca9141c82ad3bf9d3e3331a2eab5203b

Reviewed By: zertosh

Differential Revision: D24880203

fbshipit-source-id: 2034cdfc2712209e86d3d05c119c58f979b05c52

Summary: This fixes issues with `pulsar.test.TestDepth` that we are encountering on CircleCI. The ID equality test is removed, which seems to give different results on different hardware (which is okay, because the exact order of spheres can slightly vary if they're close due to numerical instabilities). The depth map validity test stays in place.

Reviewed By: bottler

Differential Revision: D24840776

fbshipit-source-id: 2f38ea4880abf202c84d2987fdd71a84c5ef3b05

Summary:
Changes to CI and some minor fixes now that pulsar is part of pytorch3d. Most significantly, add CUB to CI builds.

Make CUB_HOME override the CUB already in cudatoolkit (important for cuda11.0 which uses cub 1.9.9 which pulsar doesn't work well with.
Make imageio available for testing.
Lint fixes.
Fix some test verbosity.
Avoid use of atomicAdd_block on older GPUs.

Reviewed By: nikhilaravi, classner

Differential Revision: D24773716

fbshipit-source-id: 2428356bb2e62735f2bc0c15cbe4cff35b1b24b8

Summary: Users want to be able to obtain the depth from the renderer. Current work-around requires running the rasterizer and extra time. This change creates a new renderer class that also returns the fragments from the rasterizer.

Reviewed By: nikhilaravi

Differential Revision: D24432381

fbshipit-source-id: 6552e8a6bfee646791afb34bdb7452fbc4094aed

Summary: This commit performs pulsar example and test refinements. The examples are fully adjusted to adhere to PEP style guide and additional comments are added.

Reviewed By: nikhilaravi

Differential Revision: D24723391

fbshipit-source-id: 6d289006f080140159731e7f3a8c98b582164f1a

Summary:
This diff builds on top of the `pulsar integration` diff to provide a unified interface for the existing PyTorch3D point renderer and Pulsar. For more information about the pulsar backend, see the release notes and the paper (https://arxiv.org/abs/2004.07484). For information on how to use the backend, see the point cloud rendering notebook and the examples in the folder docs/examples.

The unified interfaces are completely consistent. Switching the render backend is as easy as using `renderer = PulsarPointsRenderer(rasterizer=rasterizer).to(device)` instead of `renderer = PointsRenderer(rasterizer=rasterizer, compositor=compositor)` and adding the `gamma` parameter to the forward function. All PyTorch3D camera types are supported as far as possible; keyword arguments are properly forwarded to the camera. The `PerspectiveCamera` and `OrthographicCamera` require znear and zfar as additional parameters for the forward pass.

Reviewed By: nikhilaravi

Differential Revision: D21421443

fbshipit-source-id: 4aa0a83a419592d9a0bb5d62486a1cdea9d73ce6

Summary:
This diff integrates the pulsar renderer source code into PyTorch3D as an alternative backend for the PyTorch3D point renderer. This diff is the first of a series of three diffs to complete that migration and focuses on the packaging and integration of the source code.

For more information about the pulsar backend, see the release notes and the paper (https://arxiv.org/abs/2004.07484). For information on how to use the backend, see the point cloud rendering notebook and the examples in the folder `docs/examples`.

Tasks addressed in the following diffs:
* Add the PyTorch3D interface,
* Add notebook examples and documentation (or adapt the existing ones to feature both interfaces).

Reviewed By: nikhilaravi

Differential Revision: D23947736

fbshipit-source-id: a5e77b53e6750334db22aefa89b4c079cda1b443

Summary: To initialize the Cameras class currently we require the principal point, focal length and other parameters to be specified from which we calculate the intrinsic matrix. In some cases the matrix might be directly available e.g. from a dataset and the associated metadata for an image.

Reviewed By: nikhilaravi

Differential Revision: D24489509

fbshipit-source-id: 1b411f19c5f6c8074bcfbf613f3339d5e242c119

Summary: This recently added test is sensitive to the version of PIL because of different algorithms to draw ellipses/circles. Remove it as there is no obvious safe way to test this. Replace with a test for the underlying centres_for_image().

Reviewed By: theschnitz

Differential Revision: D24622465

fbshipit-source-id: e46d7384df491c71ac87ba8bbbce89507ac40080

Summary: New methods to directly plot a TexturesUV map with its used points, using PIL and matplotlib.

Reviewed By: gkioxari

Differential Revision: D23782968

fbshipit-source-id: 692970857b5be13a35a3175dc82ac03963a73555

Summary: We can represent a rotation as a vector in the axis direction, whose length is the rotation anticlockwise in radians around that axis.

Reviewed By: gkioxari

Differential Revision: D24306293

fbshipit-source-id: 2e0f138eda8329f6cceff600a6e5f17a00e4deb7

Summary:
Small fix and updated tests for multigpu rendering case.

This resolves the issue seen in: https://github.com/facebookresearch/pytorch3d/issues/401

Reviewed By: gkioxari

Differential Revision: D24314681

fbshipit-source-id: 84c5a5359844c77518b48044001daa9a86f3c43a

Summary: Issue #119. The function `sqrt(max(x, 0))` is not convex and has infinite gradient at 0, but 0 is a subgradient at 0. Here we implement it in such a way as to give 0 as the gradient.

Reviewed By: gkioxari

Differential Revision: D24306294

fbshipit-source-id: 48d136faca083babad4d64970be7ea522dbe9e09

Summary:
allow-large-files

black_any_style

Reviewed By: zertosh

Differential Revision: D24325133

fbshipit-source-id: b4afe80d1e8b2bc993f4b8e3822c02964df47462

Summary:
Fix for GitHub issue #381.

The example mesh provided in the issue only had material properties but no texture image. The current implementation of texture atlassing generated an atlas using both the material properties and the texture image but only worked if there was a texture image and associated vertex uv coordinates. I have now modified the texture atlas creation so that it doesn't require an image and can work with materials which only have material properties.

Reviewed By: gkioxari

Differential Revision: D24153068

fbshipit-source-id: 63e9d325db09a84b336b83369d5342ce588a9932

Summary: Enhance every texture type with `faces_verts_textures_packed` that allows users to query the texture of each vertex in mesh

Reviewed By: nikhilaravi

Differential Revision: D24058778

fbshipit-source-id: 19d0e3a244fa96aae462c47bf52e07dfd3b7c6f0

Summary:
Enhanced `sample_points_from_meshes` with texture sampling

* This new feature is used to return textures corresponding to the sampled points in `sample_points_from_meshes`

Reviewed By: nikhilaravi

Differential Revision: D24031525

fbshipit-source-id: 8e5d8f784cc38aa391aa8e84e54423bd9fad7ad1

Summary: Fix a few linting warnings

Reviewed By: nikhilaravi

Differential Revision: D20720810

fbshipit-source-id: c5b6a25fdd7971cc8743b54bbe162464a874071d

Summary:
Support for moving all the tensors of the renderer to another device by calling `renderer.to(new_device)`

Currently the `MeshRenderer`, `MeshRasterizer` and `SoftPhongShader` (and other shaders) are all of type `nn.Module` which already supports easily moving tensors of submodules (defined as class attributes) to a different device. However the class attributes of the rasterizer and shader (e.g. cameras, lights, materials), are of type `TensorProperties`, not nn.Module so we need to explicity create a `to` method to move these tensors to device. Note that the `TensorProperties` class already has a `to` method so we only need to call `cameras.to(device)` and don't need to worry about the internal tensors.

The other option is of course making these other classes (cameras, lights etc) also of type nn.Module.

Reviewed By: gkioxari

Differential Revision: D23885107

fbshipit-source-id: d71565c442181f739de4d797076ed5d00fb67f8e

Summary:
I'm constantly encountering 3D models with resources that have spaces in their filenames (especially on Windows) and therefore they can't be loaded in pytorch3d. Let me know what you think.

Thanks

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/358

Reviewed By: bottler

Differential Revision: D23798492

Pulled By: nikhilaravi

fbshipit-source-id: 4d85b7ee05339486d2e5ef53a531f8e6052251c5

Summary:
Make save_ply save to binary instead of ascii. An option makes the previous functionality available. save_ply's API accepts a stream, but this is undocumented; that stream must now be a binary stream not a text stream.

Avoiding warnings about making tensors from immutable numpy arrays.

Possible performance improvement when reading binary files.

Fix reading zero-length binary lists.

Reviewed By: nikhilaravi

Differential Revision: D22333118

fbshipit-source-id: b423dfd3da46e047bead200255f47a7707306811

Summary:
Support variable size pointclouds in the renderer API to allow compatibility with Pulsar rasterizer.

If radius is provided as a float, it is converted to a tensor of shape (P). Otherwise radius is expected to be an (N, P_padded) dimensional tensor where P_padded is the max number of points in the batch (following the convention from pulsar: https://our.intern.facebook.com/intern/diffusion/FBS/browse/master/fbcode/frl/gemini/pulsar/pulsar/renderer.py?commit=ee0342850210e5df441e14fd97162675c70d147c&lines=50)

Reviewed By: jcjohnson, gkioxari

Differential Revision: D21429400

fbshipit-source-id: 65de7d9cd2472b27fc29f96160c33687e88098a2

Summary: Support rendering different color backgrounds for pointclouds for both compositors

Reviewed By: nikhilaravi

Differential Revision: D23611043

fbshipit-source-id: ab029650d51349340372c5bd66700e6577d48851

Summary: When the camera is vertically oriented, calculating the look_at x-axis (also known as the "right" vector) does not succeed, resulting in the x-axis being placed at the origin. Adds a check to correctly calculate the x-axis if this case occurs.

Reviewed By: nikhilaravi, sbranson

Differential Revision: D23511859

fbshipit-source-id: ee5145cdbecdbe2f7c7d288588bd0899480cb327

Summary:
This fixes two small issues with blending.py:softmax_rgb_blend():
  1) zfar and znear attributes are propagated from the camera settings instead of just using default settings of znear=1.0 and zfar=100.0
  2) A check is added to prevent arithmetic overflow in softmax_rgb_blend()

This is a fix in response to https://github.com/facebookresearch/pytorch3d/issues/334
where meshes rendererd using a SoftPhongShader with faces_per_pixel=1 appear black.  This only occurs when the scale of the mesh is large (vertex values > 100, where 100 is the default value of zfar).  This fix allows the caller to increase the value of cameras.zfar to match the scale of her/his mesh.

Reviewed By: nikhilaravi

Differential Revision: D23517541

fbshipit-source-id: ab8631ce9e5f2149f140b67b13eff857771b8807

Summary:
adds `corresponding_cameras_alignment` function that estimates a similarity transformation between two sets of cameras.

The function is essential for computing camera errors in SfM pipelines.

```
Benchmark                                                   Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
CORRESPONDING_CAMERAS_ALIGNMENT_10_centers_False                32219           36211             16
CORRESPONDING_CAMERAS_ALIGNMENT_10_centers_True                 32429           36063             16
CORRESPONDING_CAMERAS_ALIGNMENT_10_extrinsics_False              5548            8782             91
CORRESPONDING_CAMERAS_ALIGNMENT_10_extrinsics_True               6153            9752             82
CORRESPONDING_CAMERAS_ALIGNMENT_100_centers_False               33344           40398             16
CORRESPONDING_CAMERAS_ALIGNMENT_100_centers_True                34528           37095             15
CORRESPONDING_CAMERAS_ALIGNMENT_100_extrinsics_False             5576            7187             90
CORRESPONDING_CAMERAS_ALIGNMENT_100_extrinsics_True              6256            9166             80
CORRESPONDING_CAMERAS_ALIGNMENT_1000_centers_False              32020           37247             16
CORRESPONDING_CAMERAS_ALIGNMENT_1000_centers_True               32776           37644             16
CORRESPONDING_CAMERAS_ALIGNMENT_1000_extrinsics_False            5336            8795             94
CORRESPONDING_CAMERAS_ALIGNMENT_1000_extrinsics_True             6266            9929             80
--------------------------------------------------------------------------------
```

Reviewed By: shapovalov

Differential Revision: D22946415

fbshipit-source-id: 8caae7ee365b304d8aa1f8133cf0dd92c35bc0dd

Summary:
Add a join_scene method to all the textures to allow the join_mesh function to include textures. Rename the join_mesh function to join_meshes_as_scene.

For TexturesAtlas, we now interpolate if the user attempts to have the resolution vary across the batch. This doesn't look great if the resolution is already very low.

For TexturesUV, a rectangle packing function is required, this does something simple.

Reviewed By: gkioxari

Differential Revision: D23188773

fbshipit-source-id: c013db061a04076e13e90ccc168a7913e933a9c5

Summary:
Allow, and make default, align_corners=True for texture maps. Allow changing the padding_mode and set the default to be "border" which produces more logical results. Some new documentation.

The previous behavior corresponds to padding_mode="zeros" and align_corners=False.

Reviewed By: gkioxari

Differential Revision: D23268775

fbshipit-source-id: 58d6229baa591baa69705bcf97471c80ba3651de

Summary:
The look_at_view_transform did not give the correct results when the object location `at` was not (0,0,0).

The problem was on computing the cameras' location in world's coordinate `C`. It only took into account the camera position from spherical angles, but ignored the object location in the world's coordinate system. I simply modified the C tensor to take into account the object's location which is not necessarily in the origin.

I ran unit tests and all but 4 failed with the same error message: `RuntimeError: CUDA error: invalid device ordinal`. However the same happens before this patch, so I believe these errors are unrelated.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/230

Reviewed By: gkioxari

Differential Revision: D23278126

Pulled By: nikhilaravi

fbshipit-source-id: c06e891bc46de8222325ee7b37aa43cde44648e8

Summary:
- Add support for loading textures from ShapeNet Obj files as a texture atlas.
- Support textured rendering of shapenet models

Reviewed By: gkioxari

Differential Revision: D23141143

fbshipit-source-id: 26eb81758d4cdbd6d820b072b58f5c6c08cb90bc

Summary:
Found a bug in extending textures with vertex uv coordinates. This was due to the padded -> list conversion of vertex uv coordinates i.e.                 The number of vertices in the mesh and in verts_uvs can differ
e.g. if a vertex is shared between 3 faces, it can
have up to 3 different uv coordinates. Therefore we cannot convert directly from padded to list using _num_verts_per_mesh

Reviewed By: bottler

Differential Revision: D23233595

fbshipit-source-id: 0c66d15baae697ead0bdc384f74c27d4c6539fc9

Summary:
faces_uvs_packed and verts_uvs_packed were only used in one place and the definition of the former was ambiguous. This meant that the wrong coordinates could be used for meshes other than the first in the batch. I have therefore removed both functions and build their common result inline. Added a test that a simple batch of two meshes is rendered consistently with the rendering of each alone. This test would have failed before.

I hope this fixes https://github.com/facebookresearch/pytorch3d/issues/283.

Some other small improvements to the textures code.

Reviewed By: nikhilaravi

Differential Revision: D23161936

fbshipit-source-id: f99b560a46f6b30262e07028b049812bc04350a7

Summary: A triangle is culled if any vertex in a triangle is behind the camera.  This fixes incorrect rendering of triangles that are partially behind the camera, where screen coordinate calculations are strange.  It doesn't work for triangles that are partially behind the camera but still intersect with the view frustum.

Reviewed By: nikhilaravi

Differential Revision: D22856181

fbshipit-source-id: a9cbaa1327d89601b83d0dfd3e4a04f934a4a213

Summary:
Refactor cameras
* CamerasBase was enhanced with `transform_points_screen` that transforms projected points from NDC to screen space
* OpenGLPerspective, OpenGLOrthographic -> FoVPerspective, FoVOrthographic
* SfMPerspective, SfMOrthographic -> Perspective, Orthographic
* PerspectiveCamera can optionally be constructred with screen space parameters
* Note on Cameras and coordinate systems was added

Reviewed By: nikhilaravi

Differential Revision: D23168525

fbshipit-source-id: dd138e2b2cc7e0e0d9f34c45b8251c01266a2063

Summary: Add `detach` for Meshes, Pointclouds, Textures

Reviewed By: nikhilaravi

Differential Revision: D23070418

fbshipit-source-id: 68671124ce114c4495d7ef3c944c9aac3d0db2d8

Summary:
Small fix to the softmax blending function.

To avoid overflow in the exponential for the softmax, the exponent is shifted by the maximum value. In the final calculation of the color there is a weighted sum between the pixel color and the background color - in order for the sum to be correct, the background color also needs to be handled in the same way witt the shifted exponent.

Reviewed By: gkioxari

Differential Revision: D23148301

fbshipit-source-id: 86066586ee7d3ce7bd4a2076b12ce191fbd151a7

Summary: Return R2N2's voxel coordinates.

Reviewed By: nikhilaravi

Differential Revision: D22462530

fbshipit-source-id: a995cfa0957b2561eb3b0f4591cb1db42170bc68