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Non Square image rasterization for pointclouds

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Summary:
Similar to non square image rasterization for meshes, apply the same updates to the pointcloud rasterizer.

Main API Change:
- PointRasterizationSettings now accepts a tuple/list of (H, W) for the image size.

Reviewed By: jcjohnson

Differential Revision: D25465206

fbshipit-source-id: 7370d83c431af1b972158cecae19d82364623380
This commit is contained in:
Nikhila Ravi
2020-12-15 14:14:27 -08:00
committed by Facebook GitHub Bot
parent 569e5229a9
commit 3d769a66cb
22 changed files with 712 additions and 263 deletions
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17
pytorch3d/csrc/rasterize_meshes/rasterize_meshes.cu
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@@ -452,7 +452,6 @@ __global__ void RasterizeMeshesBackwardCudaKernel(
const bool inside = b_pp.x > 0.0f && b_pp.y > 0.0f && b_pp.z > 0.0f;
const float sign = inside ? -1.0f : 1.0f;
// TODO(T52813608) Add support for non-square images.
auto grad_dist_f = PointTriangleDistanceBackward(
pxy, v0xy, v1xy, v2xy, sign * grad_dist_upstream);
const float2 ddist_d_v0 = thrust::get<1>(grad_dist_f);
@@ -606,7 +605,7 @@ __global__ void RasterizeMeshesCoarseCudaKernel(
const float half_pix_x = NDC_x_half_range / W;
const float half_pix_y = NDC_y_half_range / H;
// This is a boolean array of shape (num_bins, num_bins, chunk_size)
// This is a boolean array of shape (num_bins_y, num_bins_x, chunk_size)
// stored in shared memory that will track whether each point in the chunk
// falls into each bin of the image.
BitMask binmask((unsigned int*)sbuf, num_bins_y, num_bins_x, chunk_size);
@@ -755,7 +754,7 @@ at::Tensor RasterizeMeshesCoarseCuda(
const int num_bins_y = 1 + (H - 1) / bin_size;
const int num_bins_x = 1 + (W - 1) / bin_size;
if (num_bins_y >= kMaxFacesPerBin || num_bins_x >= kMaxFacesPerBin) {
if (num_bins_y >= kMaxItemsPerBin || num_bins_x >= kMaxItemsPerBin) {
std::stringstream ss;
ss << "In Coarse Rasterizer got num_bins_y: " << num_bins_y
<< ", num_bins_x: " << num_bins_x << ", "
@@ -800,7 +799,7 @@ at::Tensor RasterizeMeshesCoarseCuda(
// ****************************************************************************
__global__ void RasterizeMeshesFineCudaKernel(
const float* face_verts, // (F, 3, 3)
const int32_t* bin_faces, // (N, B, B, T)
const int32_t* bin_faces, // (N, BH, BW, T)
const float blur_radius,
const int bin_size,
const bool perspective_correct,
@@ -813,12 +812,12 @@ __global__ void RasterizeMeshesFineCudaKernel(
const int H,
const int W,
const int K,
int64_t* face_idxs, // (N, S, S, K)
float* zbuf, // (N, S, S, K)
float* pix_dists, // (N, S, S, K)
float* bary // (N, S, S, K, 3)
int64_t* face_idxs, // (N, H, W, K)
float* zbuf, // (N, H, W, K)
float* pix_dists, // (N, H, W, K)
float* bary // (N, H, W, K, 3)
) {
// This can be more than S^2 if S % bin_size != 0
// This can be more than H * W if H or W are not divisible by bin_size.
int num_pixels = N * BH * BW * bin_size * bin_size;
int num_threads = gridDim.x * blockDim.x;
int tid = blockIdx.x * blockDim.x + threadIdx.x;