GitLab

Summary:
Previously, dtypes were not propagated correctly in composed transforms, resulting in errors when different dtypes were mixed. Even specifying a dtype in the constructor does not fix this. Neither does specifying the dtype for each composition function invocation (e.g. as a `kwarg` in `rotate_axis_angle`).

With the change, I also had to modify the default dtype of `RotateAxisAngle`, which was `torch.float64`; it is now `torch.float32` like for all other transforms. This was required because the fix in propagation broke some tests due to dtype mismatches.

This change in default dtype in turn broke two tests due to precision changes (calculations that were previously done in `torch.float64` were now done in `torch.float32`), so I changed the precision tolerances to be less strict. I chose the lowest power of ten that passed the tests here.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1141

Reviewed By: patricklabatut

Differential Revision: D35192970

Pulled By: bottler

fbshipit-source-id: ba0293e8b3595dfc94b3cf8048e50b7a5e5ed7cf

Summary: Allow things like `renderer:Optional[BaseRenderer]` in configurables.

Reviewed By: davnov134

Differential Revision: D35118339

fbshipit-source-id: 1219321b2817ed4b26fe924c6d6f73887095c985

Summary: To ensure that tests outside implicitron/ don't use implicitron, split the test for recursive includes in to two. License header checking is not needed here any more.

Reviewed By: shapovalov

Differential Revision: D35077830

fbshipit-source-id: 2ebe7436a6dcc5d21a116434f6ddd08705dfab34

Summary: Attempt to solve an internal issue

Reviewed By: shapovalov

Differential Revision: D35143263

fbshipit-source-id: b4fd9ee441d85f0a3ee08f2f1e7febd1c1ccbe86

Summary:
Before the fix, running get_default_args(C: Callable) returns an unstructured DictConfig which causes Enums to be handled incorrectly. This is a fix.

WIP update: Currently tests still fail whenever a function signature contains an untyped argument: This needs to be somehow fixed.

Reviewed By: bottler

Differential Revision: D34932124

fbshipit-source-id: ecdc45c738633cfea5caa7480ba4f790ece931e8

Summary: Using the API from D35012121 everywhere.

Reviewed By: bottler

Differential Revision: D35045870

fbshipit-source-id: dab112b5e04160334859bbe8fa2366344b6e0f70

Summary: We often want to iterate over frames in the sequence in temporal order. This diff provides the API to do that. `seq_to_idx` should probably be considered to have `protected` visibility.

Reviewed By: davnov134

Differential Revision: D35012121

fbshipit-source-id: 41896672ec35cd62f3ed4be3aa119efd33adada1

Co-authored-by: Jeremy Francis Reizenstein <bottler@users.noreply.github.com>

Summary: Fix assumption that face indices are signed in the PLY file, as reported in #1104.

Reviewed By: nikhilaravi

Differential Revision: D34892598

fbshipit-source-id: a8b23bfac1357bdc11bbbf752098319142239804

Summary: As reported in https://github.com/facebookresearch/pytorch3d/pull/1100, a rasterizer couldn't be moved if it was missing the optional cameras member. Fix that. This matters because the renderer.to calls rasterizer.to, so this to() could be called even by a user who never sets a cameras member.

Reviewed By: nikhilaravi

Differential Revision: D34643841

fbshipit-source-id: 7e26e32e8bc585eb1ee533052754a7b59bc7467a

Summary: As reported in https://github.com/facebookresearch/pytorch3d/pull/1100, _num_faces_per_mesh was changing in the source mesh in join_batch. This affects both TexturesUV and TexturesAtlas

Reviewed By: nikhilaravi

Differential Revision: D34643675

fbshipit-source-id: d67bdaca7278f18a76cfb15ba59d0ea85575bd36

Reviewed By: zsol

Differential Revision: D34526295

fbshipit-source-id: f511370dc3186bc396d68a2e6d5e0931facbeb42

Summary:
1. changed IsInsideTriangle in geometry_utils to take in min_triangle_area parameter instead of hardcoded value
2. updated point_mesh_cpu.cpp and point_mesh_cuda.[h/cu] to adapt to changes in geometry_utils function signatures
3. updated point_mesh_distance.py and test_point_mesh_distance.py to modify _C. calls

Reviewed By: bottler

Differential Revision: D34459764

fbshipit-source-id: 0549e78713c6d68f03d85fb597a13dd88e09b686

Summary: Small changes discovered based on circleCI failures.

Reviewed By: patricklabatut

Differential Revision: D34426807

fbshipit-source-id: 819860f34b2f367dd24057ca7490284204180a13

Summary: Small fix by adjusting the area `eps` to account for really small faces when computing point to face distances

Reviewed By: bottler

Differential Revision: D34331336

fbshipit-source-id: 51c4888ea46fefa4e31d5b0bb494a9f9d77813cd

Summary: Lower the epsilon value in the IoU3D calculation to fix small numerical issue from GH#1082

Reviewed By: bottler

Differential Revision: D34371597

fbshipit-source-id: 12443fa359b7755ef4ae60e9adf83734a1a295ae

Summary: Fix tests which depended on output tensors being identical to input ones, which now fail in main PyTorch branch because of some change in autograd. The functions still work in-place.

Reviewed By: patricklabatut

Differential Revision: D34375817

fbshipit-source-id: 295ae195f75eab6c7abab412c997470d8de8add1

Summary:
Modified the compositor background color tests to account for either a 3rd or 4th channel. Also replaced hard coding of channel value with C.

Implemented changes to alpha channel appending logic, and cleaned up extraneous warnings and checks, per task instructions.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1048

Reviewed By: bottler

Differential Revision: D34305312

fbshipit-source-id: 2176c3bdd897d1a2ba6ff4c6fa801fea889e4f02

Summary:
Add a test for Transform3d.stack, and make it work with composed transformations.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1072 .

Reviewed By: patricklabatut

Differential Revision: D34211920

fbshipit-source-id: bfbd0895494ca2ad3d08a61bc82ba23637e168cc

Summary: Move this simple layer from the NeRF project into pytorch3d.

Reviewed By: shapovalov

Differential Revision: D34126972

fbshipit-source-id: a9c6d6c3c1b662c1b844ea5d1b982007d4df83e6

Summary:
When there is no "usemtl" statement in the .obj file use material from .mtl if there is one.
https://github.com/facebookresearch/pytorch3d/issues/1068

Reviewed By: bottler

Differential Revision: D34141152

fbshipit-source-id: 7a5b5cc3f0bb287dc617f68de2cd085db8f7ad94

Summary: Implements a utility function to convert from 2D coordinates in Pytorch3D NDC space to the coordinates in grid_sample.

Reviewed By: shapovalov

Differential Revision: D33741394

fbshipit-source-id: 88981653356588fe646e6dea48fe7f7298738437

Summary:
Use existing workaround for batched 3x3 symeig because it is faster than torch.symeig.

Added benchmark showing speedup. True = workaround.
```
Benchmark                Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
normals_True_3000            16237           17233             31
normals_True_6000            33028           33391             16
normals_False_3000        18623069        18623069              1
normals_False_6000        36535475        36535475              1
```

Should help https://github.com/facebookresearch/pytorch3d/issues/988

Reviewed By: nikhilaravi

Differential Revision: D33660585

fbshipit-source-id: d1162b277f5d61ed67e367057a61f25e03888dce

Summary: Migrate away from NDCGridRaysampler and GridRaysampler to their more flexible replacements.

Reviewed By: patricklabatut

Differential Revision: D33281584

fbshipit-source-id: 65f8702e700a32d38f7cd6bda3924bb1707a0633

Summary: New MultinomialRaysampler succeeds GridRaysampler bringing masking and subsampling. Correspondingly, NDCMultinomialRaysampler succeeds NDCGridRaysampler.

Reviewed By: nikhilaravi, shapovalov

Differential Revision: D33256897

fbshipit-source-id: cd80ec6f35b110d1d20a75c62f4e889ba8fa5d45

Summary: Fix https://github.com/facebookresearch/pytorch3d/issues/1021 that cameras_from_opencv_projection always creates on CPU.

Reviewed By: nikhilaravi

Differential Revision: D33508211

fbshipit-source-id: fadebd45cacafd633af6a58094cf6f654529992c

Summary:
Function to join a list of cameras objects into a single batched object.

FB: In the next diff I will remove the `concatenate_cameras` function in implicitron and update the callsites.

Reviewed By: nikhilaravi

Differential Revision: D33198209

fbshipit-source-id: 0c9f5f5df498a0def9dba756c984e6a946618158

Summary:
convert_to_tensors_and_broadcast had a special case for a single input, which is not used anywhere except fails to do the right thing if a TensorProperties has only one kwarg. At the moment AmbientLights may be the only way to hit the problem. Fix by removing the special case.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1043

Reviewed By: nikhilaravi

Differential Revision: D33638345

fbshipit-source-id: 7a6695f44242e650504320f73b6da74254d49ac7

Summary:
The following snippet should work in more cases.
     point_cloud = Pointclouds(
         [pcl.points_packed() for pcl in point_clouds],
         features=[pcl.features_packed() for pcl in point_clouds],
     )

We therefore allow features and normals inputs to be lists which contain some (but not all) Nones.

The initialization of a Pointclouds from empty data is also made a bit better now at working out how many feature channels there are.

Reviewed By: davnov134

Differential Revision: D31795089

fbshipit-source-id: 54bf941ba80672d699ffd5ac28927740e830f8ab

Summary: Manual adjustments for license changes.

Reviewed By: patricklabatut

Differential Revision: D33405657

fbshipit-source-id: 8a21735726f3aece9f9164da9e3b272b27db8032

Summary: Update all FB license strings to the new format.

Reviewed By: patricklabatut

Differential Revision: D33403538

fbshipit-source-id: 97a4596c5c888f3c54f44456dc07e718a387a02c

Summary:
Moved `HarmonicEmbedding` function in core PyTorch3D.
In the next diff will update the NeRF project.

Reviewed By: bottler

Differential Revision: D32833808

fbshipit-source-id: 0a12ccd1627c0ce024463c796544c91eb8d4d122

Summary:
Added a custom `__getitem__` method to `CamerasBase` which returns an instance of the appropriate camera instead of the `TensorAccessor` class.

Long term we should deprecate the `TensorAccessor` and the `__getitem__` method on `TensorProperties`

FB: In the next diff I will update the uses of `select_cameras` in implicitron.

Reviewed By: bottler

Differential Revision: D33185885

fbshipit-source-id: c31995d0eb126981e91ba61a6151d5404b263f67

Summary: Function to join a list of pointclouds as a batch similar to the corresponding function for Meshes.

Reviewed By: bottler

Differential Revision: D33145906

fbshipit-source-id: 160639ebb5065e4fae1a1aa43117172719f3871b

Summary: Fix some comments to match the recent change to transform_points_screen.

Reviewed By: patricklabatut

Differential Revision: D33243697

fbshipit-source-id: dc8d182667a9413bca2c2e3657f97b2f7a47c795

Summary:
A small numerical fix for IoU for 3D boxes, fixes GH #992

* Adds a check for boxes with zero side areas (invalid boxes)
* Fixes numerical issue when two boxes have coplanar sides

Reviewed By: nikhilaravi

Differential Revision: D33195691

fbshipit-source-id: 8a34b4d1f1e5ec2edb6d54143930da44bdde0906

Summary: Demonstrate current behavior of pixels with new tests of all renderers.

Reviewed By: gkioxari

Differential Revision: D32651141

fbshipit-source-id: 3ca30b4274ed2699bc5e1a9c6437eb3f0b738cbf

Summary:
All the renderers in PyTorch3D (pointclouds including pulsar, meshes, raysampling) use align_corners=False style. NDC space goes between the edges of the outer pixels. For a non square image with W>H, the vertical NDC space goes from -1 to 1 and the horizontal from -W/H to W/H.

However it was recently pointed out that functionality which deals with screen space inside the camera classes is inconsistent with this. It unintentionally uses align_corners=True. This fixes that.

This would change behaviour of the following:
- If you create a camera in screen coordinates, i.e. setting in_ndc=False, then anything you do with the camera which touches NDC space may be affected, including trying to use renderers. The transform_points_screen function will not be affected...
- If you call the function “transform_points_screen” on a camera defined in NDC space results will be different. I have illustrated in the diff how to get the old results from the new results but this probably isn’t the right long-term solution..

Reviewed By: gkioxari

Differential Revision: D32536305

fbshipit-source-id: 377325a9137282971dcb7ca11a6cba3fc700c9ce

Summary: Move benchmarks to a separate directory as tests/ is getting big.

Reviewed By: nikhilaravi

Differential Revision: D32885462

fbshipit-source-id: a832662a494ee341ab77d95493c95b0af0a83f43

Summary: As subj. Tests corrected accordingly. Also changed the test to provide a bit better diagnostics.

Reviewed By: bottler

Differential Revision: D32879498

fbshipit-source-id: 0a852e4a13dcb4ca3e54d71c6b263c5d2eeaf4eb