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CPU implem for face areas normals
Summary: Added cpu implementation for face areas normals. Moved test and bm to separate functions. ``` Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- FACE_AREAS_NORMALS_2_100_300_False 196 268 2550 FACE_AREAS_NORMALS_2_100_300_True 106 179 4733 FACE_AREAS_NORMALS_2_100_3000_False 1447 1630 346 FACE_AREAS_NORMALS_2_100_3000_True 107 178 4674 FACE_AREAS_NORMALS_2_1000_300_False 201 309 2486 FACE_AREAS_NORMALS_2_1000_300_True 107 186 4673 FACE_AREAS_NORMALS_2_1000_3000_False 1451 1636 345 FACE_AREAS_NORMALS_2_1000_3000_True 107 186 4655 FACE_AREAS_NORMALS_10_100_300_False 767 918 653 FACE_AREAS_NORMALS_10_100_300_True 106 167 4712 FACE_AREAS_NORMALS_10_100_3000_False 7036 7754 72 FACE_AREAS_NORMALS_10_100_3000_True 113 164 4445 FACE_AREAS_NORMALS_10_1000_300_False 748 947 669 FACE_AREAS_NORMALS_10_1000_300_True 108 169 4638 FACE_AREAS_NORMALS_10_1000_3000_False 7069 7783 71 FACE_AREAS_NORMALS_10_1000_3000_True 108 172 4646 FACE_AREAS_NORMALS_32_100_300_False 2286 2496 219 FACE_AREAS_NORMALS_32_100_300_True 108 180 4631 FACE_AREAS_NORMALS_32_100_3000_False 23184 24369 22 FACE_AREAS_NORMALS_32_100_3000_True 159 213 3147 FACE_AREAS_NORMALS_32_1000_300_False 2414 2645 208 FACE_AREAS_NORMALS_32_1000_300_True 112 197 4480 FACE_AREAS_NORMALS_32_1000_3000_False 21687 22964 24 FACE_AREAS_NORMALS_32_1000_3000_True 141 211 3540 -------------------------------------------------------------------------------- Benchmark Avg Time(μs) Peak Time(μs) Iterations -------------------------------------------------------------------------------- FACE_AREAS_NORMALS_TORCH_2_100_300_False 5465 5782 92 FACE_AREAS_NORMALS_TORCH_2_100_300_True 1198 1351 418 FACE_AREAS_NORMALS_TORCH_2_100_3000_False 48228 48869 11 FACE_AREAS_NORMALS_TORCH_2_100_3000_True 1186 1304 422 FACE_AREAS_NORMALS_TORCH_2_1000_300_False 5556 6097 90 FACE_AREAS_NORMALS_TORCH_2_1000_300_True 1200 1328 417 FACE_AREAS_NORMALS_TORCH_2_1000_3000_False 48683 50016 11 FACE_AREAS_NORMALS_TORCH_2_1000_3000_True 1185 1306 422 FACE_AREAS_NORMALS_TORCH_10_100_300_False 24215 25097 21 FACE_AREAS_NORMALS_TORCH_10_100_300_True 1150 1314 435 FACE_AREAS_NORMALS_TORCH_10_100_3000_False 232605 234952 3 FACE_AREAS_NORMALS_TORCH_10_100_3000_True 1193 1314 420 FACE_AREAS_NORMALS_TORCH_10_1000_300_False 24912 25343 21 FACE_AREAS_NORMALS_TORCH_10_1000_300_True 1216 1330 412 FACE_AREAS_NORMALS_TORCH_10_1000_3000_False 239907 241253 3 FACE_AREAS_NORMALS_TORCH_10_1000_3000_True 1226 1333 408 FACE_AREAS_NORMALS_TORCH_32_100_300_False 73991 75776 7 FACE_AREAS_NORMALS_TORCH_32_100_300_True 1193 1339 420 FACE_AREAS_NORMALS_TORCH_32_100_3000_False 728932 728932 1 FACE_AREAS_NORMALS_TORCH_32_100_3000_True 1186 1359 422 FACE_AREAS_NORMALS_TORCH_32_1000_300_False 76385 79129 7 FACE_AREAS_NORMALS_TORCH_32_1000_300_True 1165 1310 430 FACE_AREAS_NORMALS_TORCH_32_1000_3000_False 753276 753276 1 FACE_AREAS_NORMALS_TORCH_32_1000_3000_True 1205 1340 415 -------------------------------------------------------------------------------- ``` Reviewed By: bottler, jcjohnson Differential Revision: D19864385 fbshipit-source-id: 3a87ae41a8e3ab5560febcb94961798f2e09dfb8
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Georgia Gkioxari
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@@ -294,58 +294,6 @@ class TestSamplePoints(unittest.TestCase):
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return False
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return True
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@staticmethod
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def face_areas(verts, faces):
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"""
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Vectorized PyTorch implementation of triangle face area function.
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"""
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verts_faces = verts[faces]
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v0x = verts_faces[:, 0::3, 0]
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v0y = verts_faces[:, 0::3, 1]
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v0z = verts_faces[:, 0::3, 2]
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v1x = verts_faces[:, 1::3, 0]
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v1y = verts_faces[:, 1::3, 1]
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v1z = verts_faces[:, 1::3, 2]
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v2x = verts_faces[:, 2::3, 0]
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v2y = verts_faces[:, 2::3, 1]
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v2z = verts_faces[:, 2::3, 2]
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ax = v0x - v2x
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ay = v0y - v2y
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az = v0z - v2z
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bx = v1x - v2x
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by = v1y - v2y
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bz = v1z - v2z
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cx = ay * bz - az * by
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cy = az * bx - ax * bz
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cz = ax * by - ay * bx
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# this gives the area of the parallelogram with sides a and b
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area_sqr = cx * cx + cy * cy + cz * cz
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# the area of the triangle is half
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return torch.sqrt(area_sqr) / 2.0
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def test_face_areas(self):
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"""
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Check the results from face_areas cuda and PyTorch implementions are
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the same. Check that face_areas throws an error if cpu tensors are
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given as input.
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"""
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meshes = self.init_meshes(10, 1000, 3000, device="cuda:0")
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verts = meshes.verts_packed()
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faces = meshes.faces_packed()
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areas_torch = self.face_areas(verts, faces).squeeze()
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areas_cuda, _ = _C.face_areas_normals(verts, faces)
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self.assertTrue(torch.allclose(areas_torch, areas_cuda, atol=5e-8))
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with self.assertRaises(Exception) as err:
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_C.face_areas_normals(verts.cpu(), faces.cpu())
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self.assertTrue("Not implemented on the CPU" in str(err.exception))
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@staticmethod
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def packed_to_padded_tensor(inputs, first_idxs, max_size):
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"""
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@@ -419,27 +367,6 @@ class TestSamplePoints(unittest.TestCase):
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return sample_points
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@staticmethod
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def face_areas_with_init(
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num_meshes: int, num_verts: int, num_faces: int, cuda: str = True
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):
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device = "cuda" if cuda else "cpu"
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meshes = TestSamplePoints.init_meshes(
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num_meshes, num_verts, num_faces, device
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)
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verts = meshes.verts_packed()
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faces = meshes.faces_packed()
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torch.cuda.synchronize()
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def face_areas():
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if cuda:
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_C.face_areas_normals(verts, faces)
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else:
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TestSamplePoints.face_areas(verts, faces)
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torch.cuda.synchronize()
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return face_areas
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@staticmethod
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def packed_to_padded_with_init(
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num_meshes: int, num_verts: int, num_faces: int, cuda: str = True
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@@ -453,10 +380,7 @@ class TestSamplePoints(unittest.TestCase):
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mesh_to_faces_packed_first_idx = meshes.mesh_to_faces_packed_first_idx()
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max_faces = meshes.num_faces_per_mesh().max().item()
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if cuda:
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areas, _ = _C.face_areas_normals(verts, faces)
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else:
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areas = TestSamplePoints.face_areas(verts, faces)
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areas, _ = _C.face_areas_normals(verts, faces)
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torch.cuda.synchronize()
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def packed_to_padded():
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