GitLab

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

Summary:
Our mission at [Meta Open Source](https://opensource.facebook.com/) is to empower communities through open source, and we believe that it means building a welcoming and safe environment for all. As a part of this work, we are adding this banner in support for Ukraine during this crisis.

![image](https://user-images.githubusercontent.com/12485205/156670302-756fac7c-51ba-4e24-b463-f79730dbaba6.png)

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1101

Reviewed By: bottler

Differential Revision: D34628257

Pulled By: dmitryvinn-fb

fbshipit-source-id: 5863afb59a2b9431e8e2ebc5856254ab0cdfcfe8

Summary: A scalar background color is not meant to be allowed for the point renderer. It used to be ignored with a warning, but a recent code change made it an error. It was being used, at least in the black (value=0.0) case. Re-enable it.

Reviewed By: nikhilaravi

Differential Revision: D34519651

fbshipit-source-id: d37dcf145bb7b8999c9265cf8fc39b084059dd18

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: There are cases where importing pytorch3d seems to fail (internally at Meta) because of a clash between the builtin types module and ours, so rename ours.

Reviewed By: patricklabatut

Differential Revision: D34426817

fbshipit-source-id: f175448db6a4967a9a3f7bb6f595aad2ffb36455

Summary:
Run the circleci tests with a non depracated circleci image. Small fix for PyTorch 1.7.
We no longer need to manually install nvidia-docker or the CUDA driver.

Reviewed By: patricklabatut

Differential Revision: D34426816

fbshipit-source-id: d6c67bfb0ff86dff8d8f7fe7b8801657c2e80030

Summary:
# Changelist
- `matrix_to_axis_angle` was declared in `pytorch3d/transforms/rotation_conversions.py` but never exported from the `__init__` file.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1085

Reviewed By: patricklabatut

Differential Revision: D34379935

Pulled By: bottler

fbshipit-source-id: 993c12a176630f91d0f107f298f458b2b35032e5

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: Refactor ply_io to make it easier to add new features. Mostly taken from the starting code I attached to https://github.com/facebookresearch/pytorch3d/issues/904.

Reviewed By: patricklabatut

Differential Revision: D34375978

fbshipit-source-id: ec017d31f07c6f71ba6d97a0623bb10be1e81212

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: Use the newer eigh to avoid deprecation warnings in newer pytorch.

Reviewed By: patricklabatut

Differential Revision: D34375784

fbshipit-source-id: 40efe0d33fdfa071fba80fc97ed008cbfd2ef249

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: D33970393 (https://github.com/facebookresearch/pytorch3d/commit/e9fb6c27e3c71465dd982e03509aa3ed304955a7) ran an inference to add some typing. Remove some where it was a bit too confident. (Also fix some pyre errors in plotly_vis caused by new mismatch.)

Reviewed By: patricklabatut

Differential Revision: D34004689

fbshipit-source-id: 430182b0ff0b91be542a3120da6d6b1d2b247c59

Reviewed By: shannonzhu

Differential Revision: D33970393

fbshipit-source-id: 9b4dfaccfc3793fd37705a923d689cb14c9d26ba

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: Fix the base class annotation for unproject_points.

Reviewed By: patricklabatut

Differential Revision: D33281586

fbshipit-source-id: 1c34e8c4b30b359fcb9307507bc778ad3fecf290

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: Add --no-cache and --no-index to all commands which try to download wheels from S3, to avoid hitting pypi.

Reviewed By: nikhilaravi

Differential Revision: D33507975

fbshipit-source-id: ee796e43cc1864e475cd73c248e9900487012f25

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: PyTorch 1.7.0 was in Oct 2020 and 1.7.1 was in Dec 2020. We shouldn't need older than them, maybe not even 1.7.0.

Reviewed By: patricklabatut

Differential Revision: D33507967

fbshipit-source-id: d3de09c20c44870cbe5522705f2293acc0e62af3

Summary: Adds 1.10.1 to the nightly builds

Reviewed By: patricklabatut

Differential Revision: D33507966

fbshipit-source-id: af88b155adbc4e3236107f709323bd46a1819013

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: Quick script to list tests to help completion of test command.

Reviewed By: patricklabatut

Differential Revision: D33279584

fbshipit-source-id: acb463106d311498449a14c1daf52434878722bf

Summary: Since coarse rasterization on cuda can overflow bins, we detect when this happens for memory safety. See https://github.com/facebookresearch/pytorch3d/issues/348 . Also try to print a warning.

Reviewed By: patricklabatut

Differential Revision: D33065604

fbshipit-source-id: 99b3c576d01b78e6d77776cf1a3e95984506c93a

Summary: Fix https://github.com/facebookresearch/pytorch3d/issues/1015. Stop relying on the fact that the dtype returned by np.random.choice (int64 on Linux, int32 on Windows) matches the dtype used by pytorch for indexing (int64 everywhere).

Reviewed By: patricklabatut

Differential Revision: D33428680

fbshipit-source-id: 716c857502cd54c563cb256f0eaca7dccd535c10

Summary: Python 3.6 was EOL on 2021-12-23.

Reviewed By: patricklabatut

Differential Revision: D33428708

fbshipit-source-id: 37a73898df49a4a49266839278fc8be56597405d

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

Differential Revision: D33338085

fbshipit-source-id: fdb207864718c56dfa0d20530b59349c93af11bd