GitLab

Summary:
* Add PyTorch 1.10 + CUDA 11.1 combination.
* Change the CUDA 11.3 builds to happen in a separate docker image.
* Update connection to AWS to use the official `aws` commands instead of the wrapper which is now gone.

Reviewed By: patricklabatut

Differential Revision: D33235489

fbshipit-source-id: 56401f27c002a512ae121b3ec5911d020bfab885

Summary: New sampling mode option in TexturesUV mush match when collating meshes.

Reviewed By: patricklabatut

Differential Revision: D33235901

fbshipit-source-id: f457473d90bf022e65fe122ef45bf5efad134345

Summary: When parsing tutorials for building the website, we fix a few libraries at old versions. They need mistune 0.8.4, not the new version 2+, so this gets added to the list of fixed-version libraries.

Reviewed By: patricklabatut

Differential Revision: D33236031

fbshipit-source-id: 2b152b64043edffc59fa909012eab5794c7e8844

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: Make code for downloading linux wheels robust to double-digit PyTorch minor version.

Reviewed By: nikhilaravi

Differential Revision: D33170562

fbshipit-source-id: 559a97cc98ff8411e235a9f9e29f84b7a400c716

Differential Revision: D33202801

fbshipit-source-id: d4cb0f4f4a8ad5a6519ce4b8c640e8f96fbeaccb

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: Restore compatibility with old C++ after recent torch change. https://github.com/facebookresearch/pytorch3d/issues/995

Reviewed By: patricklabatut

Differential Revision: D33093174

fbshipit-source-id: 841202fb875d601db265e93dcf9cfa4249d02b25

Reviewed By: zertosh

Differential Revision: D33090919

fbshipit-source-id: 78efa486776014a27f280a01a21f9e0af6742e3e

Summary:
Pull Request resolved: https://github.com/pytorch/pytorch/pull/69041

`TH_CONCAT_{N}` is still being used by THP so I've moved that into
it's own header but all the compiled code is gone.

Test Plan: Imported from OSS

Reviewed By: anjali411

Differential Revision: D32872477

Pulled By: ngimel

fbshipit-source-id: 06c82d8f96dbcee0715be407c61dfc7d7e8be47a

Summary: Although the PyTorch website, which describes the current version 1.10, suggests CUDA 10.2 and 11.3 are supported, it would appear that we need to include builds for CUDA 11.1 to avoid surprises. This is because these builds are on anaconda, and this combination is used on Google Colab.

Reviewed By: nikhilaravi

Differential Revision: D33063932

fbshipit-source-id: 1b22d1f06e22bd18fb53ceecb58e78ac6a5d1693

Summary: Update version number

Reviewed By: patricklabatut

Differential Revision: D33016833

fbshipit-source-id: ee3b0997887ab3bc5779503b13fa2014df41eaed

Summary: Update references to dependencies

Reviewed By: patricklabatut

Differential Revision: D33016832

fbshipit-source-id: aa41c7ccc6acd19654303bc18bfd734dc29d88a3

Summary: Pre 0.6.1 release, make the tutorials expect wheels with PyTorch 1.10.0

Reviewed By: patricklabatut

Differential Revision: D33016834

fbshipit-source-id: b8c5c1c6158f806c3e55ec668117fa762fa4b75f

Summary: Build the wheels with latest PyTorch

Reviewed By: patricklabatut

Differential Revision: D33016835

fbshipit-source-id: 0ec42f31f1e4d4055562f18790f929b34bb13c52

Reviewed By: zertosh

Differential Revision: D32975574

fbshipit-source-id: 66856595c7bc29921f24a2c5c00c72892f262aa1

Summary: Pull Request resolved: https://github.com/pytorch/pytorch/pull/69039

Test Plan: Imported from OSS

Reviewed By: anjali411

Differential Revision: D32872476

Pulled By: ngimel

fbshipit-source-id: 7972aacc24aef9450fb59b707ed6396c501bcb31

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: Give unproject_points an argument letting it bypass screen space. use it to let the raysampler work for cameras defined in screen space.

Reviewed By: gkioxari

Differential Revision: D32596600

fbshipit-source-id: 2fe585dcd138cdbc65dd1c70e1957fd894512d3d

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

Summary:
This diff adds the `sample_mode` parameter to `TexturesUV` to control the interpolation mode during texture sampling. It simply gets forwarded to `torch.nn.funcitonal.grid_sample`.

This option was requested in this [GitHub issue](https://github.com/facebookresearch/pytorch3d/issues/805).

Reviewed By: patricklabatut

Differential Revision: D32665185

fbshipit-source-id: ac0bc66a018bd4cb20d75fec2d7c11145dd20199

Summary: Update company copyright on website footer + documentation pages, see [guidelines](https://www.internalfb.com/intern/wiki/Open_Source/Launch_an_OSS_Project/Launch_Preparation/Automated_Checkup/Terms_Of_Use_&_Privacy_Policy/).

Reviewed By: bottler

Differential Revision: D32649563

fbshipit-source-id: f285be79c185496832c5d41b839ee974234a8fa5

Summary: Fix some typos in comments.

Reviewed By: patricklabatut

Differential Revision: D32596645

fbshipit-source-id: 09b6d8c49f4f0301b80df626c6f9a2d5b5d9b1a7

Summary:
For a non-square image, the image_size in PointsRasterizationSettings is now (H,W) not (W,H). A part of pulsar's validation code wasn't updated for this.

The following now works.
```
H, W = 249, 125
image_size = (H, W)
camera = PerspectiveCameras(focal_length=1.0, image_size=(image_size,), in_ndc=True)
points_rasterizer = PointsRasterizer(cameras=camera, raster_settings=PointsRasterizationSettings(image_size=image_size, radius=0.0000001))
pulsar_renderer = PulsarPointsRenderer(rasterizer=points_rasterizer)
pulsar_renderer(Pointclouds(...), gamma = (0.1,), znear = (0.1,), zfar = (70,))
```

Reviewed By: nikhilaravi, classner

Differential Revision: D32316322

fbshipit-source-id: 8405a49acecb1c95d37ee368c3055868b797208a

Differential Revision: D32509948

fbshipit-source-id: 762ad27c7e6c76c30eb97fd44f1739295f63b98b

Summary:
Lets a K=1 textures atlas be viewed in plotly. Fixes https://github.com/facebookresearch/pytorch3d/issues/916 .

Test: Now get colored faces in
```
import torch
from pytorch3d.utils import ico_sphere
from pytorch3d.vis.plotly_vis import plot_batch_individually
from pytorch3d.renderer import TexturesAtlas

b = ico_sphere()
face_colors = torch.rand(b.faces_padded().shape)
tex = TexturesAtlas(face_colors[:,:,None,None])
b.textures=tex
plot_batch_individually(b)
```

Reviewed By: gkioxari

Differential Revision: D32190470

fbshipit-source-id: 258d30b7e9d79751a79db44684b5540657a2eff5

Summary:
Add builds corresponding to the new pytorch 1.10.0. We omit CUDA 11.3 testing because it fails with current hardware, and omit the main build too for the moment.

Also move to the newer GPU circle CI executors.

Reviewed By: gkioxari

Differential Revision: D32335934

fbshipit-source-id: 416d92a8eecd06ef7fc742664a5f2d46f93415f8

Differential Revision: D32310496

fbshipit-source-id: fa1809bbe0b999baee6d07fad3890dc8c2a2157b

Summary:
- Old NDC convention had xy coords in [-1,1]x[-1,1]
- New NDC convention has xy coords in [-1, 1]x[-u, u] or [-u, u]x[-1, 1]

where u > 1 is the aspect ratio of the image.

This PR fixes the NDC raysampler to use the new convention.

Partial fix for https://github.com/facebookresearch/pytorch3d/issues/868

Pull Request resolved: https://github.com/fairinternal/pytorch3d/pull/29

Reviewed By: davnov134

Differential Revision: D31926148

Pulled By: bottler

fbshipit-source-id: c6c42c60d1473b04e60ceb49c8c10951ddf03c74

Summary: Make clear that features_padded() etc can return None

Reviewed By: patricklabatut

Differential Revision: D31795088

fbshipit-source-id: 7b0bbb6f3b7ad7f7b6e6a727129537af1d1873af

Summary: Attempt to overcome flaky test

Reviewed By: patricklabatut

Differential Revision: D31895560

fbshipit-source-id: 1ecbb1782b0eafe132f88425c48487c2d0e10d2d

Summary:
Make sure the functions from `rotation_conversion` are jittable, and add some type hints.

Add tests to verify this is the case.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/898

Reviewed By: patricklabatut

Differential Revision: D31926103

Pulled By: bottler

fbshipit-source-id: bff6013c5ca2d452e37e631bd902f0674d5ca091

Summary:
https://github.com/facebookresearch/pytorch3d/issues/561
https://github.com/facebookresearch/pytorch3d/issues/790
Divide by zero fix (NaN fix).  When perspective_correct=True, BarycentricPerspectiveCorrectionForward and BarycentricPerspectiveCorrectionBackward in ../csrc/utils/geometry_utils.cuh are called.  The denominator (denom) values should not be allowed to go to zero. I'm able to resolve this issue locally with this PR and submit it for the team's review.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/891

Reviewed By: patricklabatut

Differential Revision: D31829695

Pulled By: bottler

fbshipit-source-id: a3517b8362f6e60d48c35731258d8ce261b1d912

Summary: Pull Request resolved: https://github.com/pytorch/pytorch/pull/66766

Test Plan: Imported from OSS

Reviewed By: zou3519

Differential Revision: D31721647

Pulled By: ngimel

fbshipit-source-id: 5033a2800871c8745a1a92e379c9f97c98af212e

Differential Revision: D31737477

fbshipit-source-id: 2590548c1b7a65c277ccddd405276c244fde0961

Summary: Keep using at:: instead of torch:: so we don't need torch/extension.h and can keep other compilers happy.

Reviewed By: patricklabatut

Differential Revision: D31688436

fbshipit-source-id: 1825503da0104acaf1558d17300c02ef663bf538

Summary: Few tweaks to make CUDA build on windows happier, as remarked in #876.

Reviewed By: patricklabatut

Differential Revision: D31688188

fbshipit-source-id: 20816d6215f2e3ec898f81ae4221b1c2ff24b64f