GitLab

Summary:
* Adds a "max" option for the point_reduction input to the
  chamfer_distance function.
* When combining the x and y directions, maxes the losses instead
  of summing them when point_reduction="max".
* Moves batch reduction to happen after the directions are
  combined.
* Adds test_chamfer_point_reduction_max and
  test_single_directional_chamfer_point_reduction_max tests.

Fixes  https://github.com/facebookresearch/pytorch3d/issues/1838

Reviewed By: bottler

Differential Revision: D60614661

fbshipit-source-id: 7879816acfda03e945bada951b931d2c522756eb

Summary:
Currently, it is not possible to access a sub-transform using an indexer for all 3d transforms inheriting the `Transforms3d` class.
For instance:

```python
from pytorch3d import transforms

N = 10
r = transforms.random_rotations(N)
T = transforms.Transform3d().rotate(R=r)
R = transforms.Rotate(r)

x = T[0]  # ok
x = R[0]  # TypeError: __init__() got an unexpected keyword argument 'matrix'
```

This is because all these classes (namely `Rotate`, `Translate`, `Scale`, `RotateAxisAngle`) inherit the `__getitem__()` method from `Transform3d` which has the [following code on line 201](https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/transform3d.py#L201):

```python
return self.__class__(matrix=self.get_matrix()[index])
```

The four classes inheriting `Transform3d` are not initialized through a matrix argument, hence they error.
I propose to modify the `__getitem__()` method of the `Transform3d` class to fix this behavior. The least invasive way to do it I can think of consists of creating an empty instance of the current class, then setting the `_matrix` attribute manually. Thus, instead of
```python
return self.__class__(matrix=self.get_matrix()[index])
```
I propose to do:
```python
instance = self.__class__.__new__(self.__class__)
instance._matrix = self.get_matrix()[index]
return instance
```

As far as I can tell, this modification occurs no modification whatsoever for the user, except for the ability to index all 3d transforms.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1801

Reviewed By: MichaelRamamonjisoa

Differential Revision: D58410389

Pulled By: bottler

fbshipit-source-id: f371e4c63d2ae4c927a7ad48c2de8862761078de

Summary: Implements the  the TexturesUV with multiple map ids.

Reviewed By: bottler

Differential Revision: D53944063

fbshipit-source-id: 06c25eb6d69f72db0484f16566dd2ca32a560b82

Summary:
Formats the covered files with pyfmt.

paintitblack

Reviewed By: aleivag

Differential Revision: D54447727

fbshipit-source-id: 8844b1caa08de94d04ac4df3c768dbf8c865fd2f

Summary: The diff support colors in cubify for align = "center"

Reviewed By: bottler

Differential Revision: D53777011

fbshipit-source-id: ccb2bd1e3d89be3d1ac943eff08f40e50b0540d9

Summary: Add an option to run tests without the OpenGL Renderer.

Reviewed By: patricklabatut

Differential Revision: D53573400

fbshipit-source-id: 54a14e7b2f156d24e0c561fdb279f4a9af01b793

Summary:
Fixes https://github.com/facebookresearch/pytorch3d/issues/1641. The bug was caused by the mistaken downcasting of an int64_t into int, causing issues only on inputs large enough to have hashes that escaped the bounds of an int32.

Also added a test case for this issue.

Reviewed By: bottler

Differential Revision: D53505370

fbshipit-source-id: 0fdd0efc6d259cc3b0263e7ff3a4ab2c648ec521

Reviewed By: zsol

Differential Revision: D53258682

fbshipit-source-id: 3f006b5f31a2b1ffdc6323d3a3b08ac46c3162ce

Summary: Fixed `get_rgbd_point_cloud` to take any number of image input channels.

Reviewed By: bottler

Differential Revision: D52796276

fbshipit-source-id: 3ddc0d1e337a6cc53fc86c40a6ddb136f036f9bc

Summary: Replace implementations of `so3_exp_map` and `so3_log_map` in so3.py with existing more-stable implementations.

Reviewed By: bottler

Differential Revision: D52513319

fbshipit-source-id: fbfc039643fef284d8baa11bab61651964077afe

Summary: Implement submeshing for TexturesAtlas and add associated test

Reviewed By: bottler

Differential Revision: D52334053

fbshipit-source-id: d54080e9af1f0c01551702736e858e3bd439ac58

Summary: Implement `submeshes` for TexturesUV. Fix what Meshes.submeshes passes to the texture's submeshes function to make this possible.

Reviewed By: bottler

Differential Revision: D52192060

fbshipit-source-id: 526734962e3376aaf75654200164cdcebfff6997

Summary: Performance improvement: Use torch.lerp to map uv coordinates to the range needed for grid_sample (i.e. map [0, 1] to [-1, 1] and invert the y-axis)

Reviewed By: bottler

Differential Revision: D51961728

fbshipit-source-id: db19a5e3f482e9af7b96b20f88a1e5d0076dac43

Summary:
Porting this commit by davnov134 .
https://github.com/fairinternal/pytorch3d/commit/93a3a62800799c73758505c6397ac7a1440b18d9#diff-a8e107ebe039de52ca112ac6ddfba6ebccd53b4f53030b986e13f019fe57a378

Capability to interpret world/local coordinates with various align_corners semantics.

Reviewed By: bottler

Differential Revision: D51855420

fbshipit-source-id: 834cd220c25d7f0143d8a55ba880da5977099dd6

Summary: Fix recent flake complaints

Reviewed By: MichaelRamamonjisoa

Differential Revision: D51811912

fbshipit-source-id: 65183f5bc7058da910e4d5a63b2250ce8637f1cc

Summary: Fixes lint in test_render_points in the PyTorch3D library.

Differential Revision: D51289841

fbshipit-source-id: 1eae621eb8e87b0fe5979f35acd878944f574a6a

Summary:
When the ply format looks as follows:
  ```
comment TextureFile ***.png
element vertex 892
property double x
property double y
property double z
property double nx
property double ny
property double nz
property double texture_u
property double texture_v
```
`MeshPlyFormat` class will read uv from the ply file and read the uv map as commented as TextureFile.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1100

Reviewed By: MichaelRamamonjisoa

Differential Revision: D50885176

Pulled By: bottler

fbshipit-source-id: be75b1ec9a17a1ed87dbcf846a9072ea967aec37

Summary: fixes https://github.com/facebookresearch/pytorch3d/issues/1679

Reviewed By: MichaelRamamonjisoa

Differential Revision: D50949933

fbshipit-source-id: 5c467de8bf84dd2a3d61748b3846678582d24ea3

Summary:
The `chamfer_distance` function currently allows `"sum"` or `"mean"` reduction, but does not support returning unreduced (per-point) loss terms. Unreduced losses could be useful if the user wishes to inspect individual losses, or perform additional modifications to loss terms before reduction. One example would be implementing a robust kernel over the loss.

This PR adds a `None` option to the `point_reduction` parameter, similar to `batch_reduction`. In case of bi-directional chamfer loss, both the forward and backward distances are returned (a tuple of Tensors of shape `[D, N]` is returned). If normals are provided, similar logic applies to normals as well.

This PR addresses issue https://github.com/facebookresearch/pytorch3d/issues/622.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1605

Reviewed By: jcjohnson

Differential Revision: D48313857

Pulled By: bottler

fbshipit-source-id: 35c824827a143649b04166c4817449e1341b7fd9

Summary:
Convert ImplicitronRayBundle to a "classic" class instead of a dataclass. This change is introduced as a way to preserve the ImplicitronRayBundle interface while allowing two outcomes:
- init lengths arguments is now a Optional[torch.Tensor] instead of torch.Tensor
- lengths is now a property which returns a `torch.Tensor`. The lengths property will either recompute lengths from bins or return the stored _lengths. `_lenghts` is None if bins is set. It saves us a bit of memory.

Reviewed By: shapovalov

Differential Revision: D46686094

fbshipit-source-id: 3c75c0947216476ebff542b6f552d311024a679b

Summary:
## Context

Bins are used in mipnerf to allow to manipulate easily intervals. For example, by doing the following, `bins[..., :-1]` you will obtain all the left coordinates of your intervals, while doing `bins[..., 1:]` is equals to the right coordinates of your intervals.

We introduce here the support of bins like in MipNerf implementation.

## RayPointRefiner

Small changes have been made to modify RayPointRefiner.
- If bins is None

```
mids = torch.lerp(ray_bundle.lengths[..., 1:], ray_bundle.lengths[…, :-1], 0.5)
z_samples = sample_pdf(
		mids, # [..., npt]
		weights[..., 1:-1], # [..., npt - 1]
               ….
            )
```

- If bins is not None
In the MipNerf implementation the sampling is done on all the bins. It allows us to use the full weights tensor without slashing it.

```
z_samples = sample_pdf(
		ray_bundle.bins, # [..., npt + 1]
		weights, # [..., npt]
               ...
            )
```

## RayMarcher

Add a ray_deltas optional argument. If None, keep the same deltas computation from ray_lengths.

Reviewed By: shapovalov

Differential Revision: D46389092

fbshipit-source-id: d4f1963310065bd31c1c7fac1adfe11cbeaba606

Summary:
Add blurpool has defined in [MIP-NeRF](https://arxiv.org/abs/2103.13415).
It has been added has an option for RayPointRefiner.

Reviewed By: shapovalov

Differential Revision: D46356189

fbshipit-source-id: ad841bad86d2b591a68e1cb885d4f781cf26c111

Summary: Add a new implicit module Integral Position Encoding based on [MIP-NeRF](https://arxiv.org/abs/2103.13415).

Reviewed By: shapovalov

Differential Revision: D46352730

fbshipit-source-id: c6a56134c975d80052b3a11f5e92fd7d95cbff1e

Summary:
Introduce methods to approximate the radii of conical frustums along rays as described in [MipNerf](https://arxiv.org/abs/2103.13415):

- Two new attributes are added to ImplicitronRayBundle: bins and radii. Bins is of size n_pts_per_ray + 1. It allows us to manipulate easily and n_pts_per_ray intervals. For example we need the intervals coordinates in the radii computation for \(t_{\mu}, t_{\delta}\). Radii are used to store the radii of the conical frustums.

- Add 3 new methods to compute the radii:
   - approximate_conical_frustum_as_gaussians: It computes the mean along the ray direction, the variance of the
      conical frustum  with respect to t and variance of the conical frustum with respect to its radius. This
      implementation follows the stable computation defined in the paper.
   - compute_3d_diagonal_covariance_gaussian: Will leverage the two previously computed variances to find the
     diagonal covariance of the Gaussian.
   - conical_frustum_to_gaussian: Mix everything together to compute the means and the diagonal covariances along
     the ray of the Gaussians.

- In AbstractMaskRaySampler, introduces the attribute `cast_ray_bundle_as_cone`. If False it won't change the previous behaviour of the RaySampler. However if True, the samplers will sample `n_pts_per_ray +1` instead of `n_pts_per_ray`. This points are then used to set the bins attribute of ImplicitronRayBundle. The support of HeterogeneousRayBundle has not been added since the current code does not allow it. A safeguard has been added to avoid a silent bug in the future.

Reviewed By: shapovalov

Differential Revision: D45269190

fbshipit-source-id: bf22fad12d71d55392f054e3f680013aa0d59b78

Summary: Make test work in isolation, and when run internally make it not try the sqlalchemy files.

Reviewed By: shapovalov

Differential Revision: D46352513

fbshipit-source-id: 7417a25d7a5347d937631c9f56ae4e3242dd622e

Summary: Making it easier for the clients to use these datasets.

Reviewed By: bottler

Differential Revision: D46727179

fbshipit-source-id: cf619aee4c4c0222a74b30ea590cf37f08f014cc

Summary:
Adds stratified sampling of sequences within categories applied after category / sequence filters but before the num sequence limit.
It respects the insertion order into the sequence_annots table, i.e. takes top N sequences within each category.

Reviewed By: bottler

Differential Revision: D46724002

fbshipit-source-id: 597cb2a795c3f3bc07f838fc51b4e95a4f981ad3

Summary: Single directional chamfer distance and option to use non-absolute cosine similarity

Reviewed By: bottler

Differential Revision: D46593980

fbshipit-source-id: b2e591706a0cdde1c2d361614cecebb84a581433

Summary: Fine implicit function was called before the coarse implicit function.

Reviewed By: shapovalov

Differential Revision: D46224224

fbshipit-source-id: 6b1cc00cc823d3ea7a5b42774c9ec3b73a69edb5

Summary:
1. We may need to store arrays of unknown shape in the database. It implements and tests serialisation.

2. Previously, when an inexisting metadata file was passed to SqlIndexDataset, it would try to open it and create an empty file, then crash. We now open the file in a read-only mode, so the error message is more intuitive. Note that the implementation is SQLite specific.

Reviewed By: bottler

Differential Revision: D46047857

fbshipit-source-id: 3064ae4f8122b4fc24ad3d6ab696572ebe8d0c26

Summary: I don't know why RE tests sometimes fail here, but maybe it's a race condition. If that's right, this should fix it.

Reviewed By: shapovalov

Differential Revision: D46020054

fbshipit-source-id: 20b746b09ad9bd77c2601ac681047ccc6cc27ed9

Summary:
This is mostly a refactoring diff to reduce friction in extending the frame data.

Slight functional changes: dataset getitem now accepts (seq_name, frame_number_as_singleton_tensor) as a non-advertised feature. Otherwise this code crashes:
```
item = dataset[0]
dataset[item.sequence_name, item.frame_number]
```

Reviewed By: bottler

Differential Revision: D45780175

fbshipit-source-id: 75b8e8d3dabed954a804310abdbd8ab44a8dea29

Summary:
Although we can load per-vertex normals in `load_obj`, saving per-vertex normals is not supported in `save_obj`.

This patch fixes this by allowing passing per-vertex normal data in `save_obj`:
``` python
def save_obj(
    f: PathOrStr,
    verts,
    faces,
    decimal_places: Optional[int] = None,
    path_manager: Optional[PathManager] = None,
    *,
    verts_normals: Optional[torch.Tensor] = None,
    faces_normals: Optional[torch.Tensor] = None,
    verts_uvs: Optional[torch.Tensor] = None,
    faces_uvs: Optional[torch.Tensor] = None,
    texture_map: Optional[torch.Tensor] = None,
) -> None:
    """
    Save a mesh to an .obj file.

    Args:
        f: File (str or path) to which the mesh should be written.
        verts: FloatTensor of shape (V, 3) giving vertex coordinates.
        faces: LongTensor of shape (F, 3) giving faces.
        decimal_places: Number of decimal places for saving.
        path_manager: Optional PathManager for interpreting f if
            it is a str.
        verts_normals: FloatTensor of shape (V, 3) giving the normal per vertex.
        faces_normals: LongTensor of shape (F, 3) giving the index into verts_normals
            for each vertex in the face.
        verts_uvs: FloatTensor of shape (V, 2) giving the uv coordinate per vertex.
        faces_uvs: LongTensor of shape (F, 3) giving the index into verts_uvs for
            each vertex in the face.
        texture_map: FloatTensor of shape (H, W, 3) representing the texture map
            for the mesh which will be saved as an image. The values are expected
            to be in the range [0, 1],
    """
```

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1511

Reviewed By: shapovalov

Differential Revision: D45086045

Pulled By: bottler

fbshipit-source-id: 666efb0d2c302df6cf9f2f6601d83a07856bf32f

Summary: Import generic path; avoiding incorrect path patching.

Reviewed By: bottler

Differential Revision: D45573976

fbshipit-source-id: e6ff4d759deb936e3b636defa1e0851fb0127b46

Summary:
I forgot to include these tests to D45086611 when transferring code from pixar_replay repo.

They test the new ORM types used in SQL dataset and are SQL Alchemy 2.0 specific.

An important test for extending types is a proof of concept for generality of SQL Dataset. The idea is to extend FrameAnnotation and FrameData in parallel.

Reviewed By: bottler

Differential Revision: D45529284

fbshipit-source-id: 2a634e518f580c312602107c85fc320db43abcf5

Summary:
Added a suit of functions and code additions to experimental_gltf_io.py file to enable saving Meshes in TexturesVertex format into .glb file.
Also added a test to tets_io_gltf.py to check the functionality with the test described in Test Plane.

Reviewed By: bottler

Differential Revision: D44969144

fbshipit-source-id: 9ce815a1584b510442fa36cc4dbc8d41cc3786d5

Summary:
Moving SQL dataset to PyTorch3D. It has been extensively tested in pixar_replay.

It requires SQLAlchemy 2.0, which is not supported in fbcode. So I exclude the sources and tests that depend on it from buck TARGETS.

Reviewed By: bottler

Differential Revision: D45086611

fbshipit-source-id: 0285f03e5824c0478c70ad13731525bb5ec7deef

Summary:
We currently support caching bounding boxes in MaskAnnotation. If present, they are not re-computed from the mask. However, the masks need to be loaded for the bbox to be set.

This diff fixes that. Even if load_masks / load_blobs are unset, the bounding box can be picked up from the metadata.

Reviewed By: bottler

Differential Revision: D45144918

fbshipit-source-id: 8a2e2c115e96070b6fcdc29cbe57e1cee606ddcd

Summary: The code does not crash if depth map/mask are not given.

Reviewed By: bottler

Differential Revision: D45082985

fbshipit-source-id: 3610d8beb4ac897fbbe52f56a6dd012a6365b89b