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</script></nav></div><div class="container mainContainer docsContainer"><div class="wrapper"><div class="post"><header class="postHeader"></header><article><div><span><h1><a class="anchor" aria-hidden="true" id="renderer-getting-started"></a><a href="#renderer-getting-started" aria-hidden="true" class="hash-link"><svg class="hash-link-icon" aria-hidden="true" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z"></path></svg></a>Renderer Getting Started</h1>
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</script></nav></div><div class="container mainContainer docsContainer"><div class="wrapper"><div class="post"><header class="postHeader"></header><article><div><span><h1><a class="anchor" aria-hidden="true" id="getting-started-with-renderer"></a><a href="#getting-started-with-renderer" aria-hidden="true" class="hash-link"><svg class="hash-link-icon" aria-hidden="true" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z"></path></svg></a>Getting Started With Renderer</h1>
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<h3><a class="anchor" aria-hidden="true" id="architecture-overview"></a><a href="#architecture-overview" aria-hidden="true" class="hash-link"><svg class="hash-link-icon" aria-hidden="true" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z"></path></svg></a>Architecture Overview</h3>
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<p>The renderer is designed to be modular, extensible and support batching and gradients for all inputs. The following figure describes all the components of the rendering pipeline.</p>
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<p><img src="assets/architecture_overview.png" width="1000"></p>
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<p><img src="assets/architecture_renderer.jpg" width="1000"></p>
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<h5><a class="anchor" aria-hidden="true" id="fragments"></a><a href="#fragments" aria-hidden="true" class="hash-link"><svg class="hash-link-icon" aria-hidden="true" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z"></path></svg></a>Fragments</h5>
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<p>The <strong>rasterizer</strong> returns 4 output tensors in a named tuple.</p>
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<ul>
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@@ -82,9 +82,9 @@ giving the barycentric coordinates in NDC units of the nearest faces at each pix
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<hr>
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<h3><a class="anchor" aria-hidden="true" id="coordinate-transformation-conventions"></a><a href="#coordinate-transformation-conventions" aria-hidden="true" class="hash-link"><svg class="hash-link-icon" aria-hidden="true" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z"></path></svg></a>Coordinate transformation conventions</h3>
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<p>Rendering requires transformations between several different coordinate frames: world space, view/camera space, NDC space and screen space. At each step it is important to know where the camera is located, how the +X, +Y, +Z axes are aligned and the possible range of values. The following figure outlines the conventions used PyTorch3D.</p>
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<p><img src="assets/transformations_overview.png" width="1000"></p>
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||||
<p><img src="assets/transforms_overview.jpg" width="1000"></p>
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||||
<p>For example, given a teapot mesh, the world coordinate frame, camera coordiante frame and image are show in the figure below. Note that the world and camera coordinate frames have the +z direction pointing in to the page.</p>
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<p><img src="assets/world_camera_image.png" width="1000"></p>
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<p><img src="assets/world_camera_image.jpg" width="1000"></p>
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<hr>
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<p><strong>NOTE: PyTorch3D vs OpenGL</strong></p>
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<p>While we tried to emulate several aspects of OpenGL, there are differences in the coordinate frame conventions.</p>
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@@ -94,18 +94,26 @@ giving the barycentric coordinates in NDC units of the nearest faces at each pix
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</ul>
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<p><img align="center" src="assets/opengl_coordframes.png" width="300"></p>
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||||
<hr>
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||||
<h3><a class="anchor" aria-hidden="true" id="texturing-options"></a><a href="#texturing-options" aria-hidden="true" class="hash-link"><svg class="hash-link-icon" aria-hidden="true" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z"></path></svg></a>Texturing options</h3>
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<p>For mesh texturing we offer several options (in <code>pytorch3d/renderer/mesh/texturing.py</code>):</p>
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||||
<ol>
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||||
<li><strong>Vertex Textures</strong>: D dimensional textures for each vertex (for example an RGB color) which can be interpolated across the face. This can be represented as an <code>(N, V, D)</code> tensor. This is a fairly simple representation though and cannot model complex textures if the mesh faces are large.</li>
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||||
<li><strong>UV Textures</strong>: vertex UV coordinates and <strong>one</strong> texture map for the whole face. For a point on a face with given barycentric coordinates, the face color can be computed by interpolating the vertex uv coordinates and then sampling from the texture map. This representation requires two tensors (UVs: <code>(N, V, 2), Texture map:</code>(N, H, W, 3)`), and is limited to only support one texture map per mesh.</li>
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||||
<li><strong>Face Textures</strong>: In more complex cases such as ShapeNet meshes, there are multiple texture maps per mesh and some faces have texture while other do not. For these cases, a more flexible representation is a texture atlas, where each face is represented as an <code>(RxR)</code> texture map where R is the texture resolution. For a given point on the face, the texture value can be sampled from the per face texture map using the barycentric coordinates of the point. This representation requires one tensor of shape <code>(N, F, R, R, 3)</code>. This texturing method is inspired by the SoftRasterizer implementation. For more details refer to the <a href="https://github.com/facebookresearch/pytorch3d/blob/master/pytorch3d/io/mtl_io.py#L123"><code>make_material_atlas</code></a> and <a href="https://github.com/facebookresearch/pytorch3d/blob/master/pytorch3d/renderer/mesh/textures.py#L452"><code>sample_textures</code></a> functions.</li>
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</ol>
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<p><img src="assets/texturing.jpg" width="1000"></p>
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<h3><a class="anchor" aria-hidden="true" id="a-simple-renderer"></a><a href="#a-simple-renderer" aria-hidden="true" class="hash-link"><svg class="hash-link-icon" aria-hidden="true" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M4 9h1v1H4c-1.5 0-3-1.69-3-3.5S2.55 3 4 3h4c1.45 0 3 1.69 3 3.5 0 1.41-.91 2.72-2 3.25V8.59c.58-.45 1-1.27 1-2.09C10 5.22 8.98 4 8 4H4c-.98 0-2 1.22-2 2.5S3 9 4 9zm9-3h-1v1h1c1 0 2 1.22 2 2.5S13.98 12 13 12H9c-.98 0-2-1.22-2-2.5 0-.83.42-1.64 1-2.09V6.25c-1.09.53-2 1.84-2 3.25C6 11.31 7.55 13 9 13h4c1.45 0 3-1.69 3-3.5S14.5 6 13 6z"></path></svg></a>A simple renderer</h3>
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<p>A renderer in PyTorch3D is composed of a <strong>rasterizer</strong> and a <strong>shader</strong>. Create a renderer in a few simple steps:</p>
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||||
<pre><code class="hljs"><span class="hljs-comment"># Imports</span>
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||||
<span class="hljs-keyword">from</span> pytorch3d.renderer import (
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OpenGLPerspectiveCameras, look_at_view_transform,
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FoVPerspectiveCameras, look_at_view_transform,
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RasterizationSettings, BlendParams,
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||||
MeshRenderer, MeshRasterizer, HardPhongShader
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)
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||||
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||||
<span class="hljs-comment"># Initialize an OpenGL perspective camera.</span>
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R, T = look_at_view_transform(2.7, 10, 20)
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||||
cameras = OpenGLPerspectiveCameras(<span class="hljs-attribute">device</span>=device, <span class="hljs-attribute">R</span>=R, <span class="hljs-attribute">T</span>=T)
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cameras = FoVPerspectiveCameras(<span class="hljs-attribute">device</span>=device, <span class="hljs-attribute">R</span>=R, <span class="hljs-attribute">T</span>=T)
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||||
<span class="hljs-comment"># Define the settings for rasterization and shading. Here we set the output image to be of size</span>
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<span class="hljs-comment"># 512x512. As we are rendering images for visualization purposes only we will set faces_per_pixel=1</span>
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@@ -114,7 +122,6 @@ raster_settings = RasterizationSettings(
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<span class="hljs-attribute">image_size</span>=512,
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<span class="hljs-attribute">blur_radius</span>=0.0,
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<span class="hljs-attribute">faces_per_pixel</span>=1,
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||||
<span class="hljs-attribute">bin_size</span>=0
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)
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||||
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<span class="hljs-comment"># Create a phong renderer by composing a rasterizer and a shader. Here we can use a predefined</span>
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@@ -135,16 +142,15 @@ renderer = MeshRenderer(
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||||
<p>We have examples of several combinations of these functions based on the texturing/shading/blending support we have currently. These are summarised in this table below. Many other combinations are possible and we plan to expand the options available for texturing, shading and blending.</p>
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<table>
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<thead>
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||||
<tr><th>Example Shaders</th><th style="text-align:center">Vertex Textures</th><th style="text-align:center">Texture Map</th><th style="text-align:center">Flat Shading</th><th style="text-align:center">Gouraud Shading</th><th style="text-align:center">Phong Shading</th><th style="text-align:center">Hard blending</th><th style="text-align:center">Soft Blending</th></tr>
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||||
<tr><th>Example Shaders</th><th style="text-align:center">Vertex Textures</th><th style="text-align:center">UV Textures</th><th style="text-align:center">Textures Atlas</th><th style="text-align:center">Flat Shading</th><th style="text-align:center">Gouraud Shading</th><th style="text-align:center">Phong Shading</th><th style="text-align:center">Hard blending</th><th style="text-align:center">Soft Blending</th></tr>
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||||
</thead>
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||||
<tbody>
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||||
<tr><td>HardPhongShader</td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td></tr>
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||||
<tr><td>SoftPhongShader</td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td></tr>
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||||
<tr><td>HardGouraudShader</td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td></tr>
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||||
<tr><td>SoftGouraudShader</td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td></tr>
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<tr><td>TexturedSoftPhongShader</td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td></tr>
|
||||
<tr><td>HardFlatShader</td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td><td style="text-align:center"></td></tr>
|
||||
<tr><td>SoftSilhouetteShader</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">:heavy_check_mark:</td></tr>
|
||||
<tr><td>HardPhongShader</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center"></td></tr>
|
||||
<tr><td>SoftPhongShader</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center">✔️</td></tr>
|
||||
<tr><td>HardGouraudShader</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center">✔️</td><td style="text-align:center"></td></tr>
|
||||
<tr><td>SoftGouraudShader</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">✔️</td></tr>
|
||||
<tr><td>HardFlatShader</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center">✔️</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">✔️</td><td style="text-align:center"></td></tr>
|
||||
<tr><td>SoftSilhouetteShader</td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center"></td><td style="text-align:center">✔️</td></tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</span></div></article></div><div class="docLastUpdate"><em>Last updated by Patrick Labatut</em></div><div class="docs-prevnext"><a class="docs-prev button" href="/docs/renderer"><span class="arrow-prev">← </span><span>Overview</span></a></div></div></div><nav class="onPageNav"></nav></div><footer class="nav-footer" id="footer"><section class="sitemap"><div class="footerSection"><div class="social"><a class="github-button" href="https://github.com/facebookresearch/pytorch3d" data-count-href="https://github.com/facebookresearch/pytorch3d/stargazers" data-show-count="true" data-count-aria-label="# stargazers on GitHub" aria-label="Star PyTorch3D on GitHub">pytorch3d</a></div></div></section><a href="https://opensource.facebook.com/" target="_blank" rel="noreferrer noopener" class="fbOpenSource"><img src="/img/oss_logo.png" alt="Facebook Open Source" width="170" height="45"/></a><section class="copyright">Copyright © 2020 Facebook Inc</section></footer></div></body></html>
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||||
</span></div></article></div><div class="docLastUpdate"><em>Last updated by Nikhila Ravi</em></div><div class="docs-prevnext"><a class="docs-prev button" href="/docs/renderer"><span class="arrow-prev">← </span><span>Overview</span></a><a class="docs-next button" href="/docs/cameras"><span>Cameras</span><span class="arrow-next"> →</span></a></div></div></div><nav class="onPageNav"></nav></div><footer class="nav-footer" id="footer"><section class="sitemap"><div class="footerSection"><div class="social"><a class="github-button" href="https://github.com/facebookresearch/pytorch3d" data-count-href="https://github.com/facebookresearch/pytorch3d/stargazers" data-show-count="true" data-count-aria-label="# stargazers on GitHub" aria-label="Star PyTorch3D on GitHub">pytorch3d</a></div></div></section><a href="https://opensource.facebook.com/" target="_blank" rel="noreferrer noopener" class="fbOpenSource"><img src="/img/oss_logo.png" alt="Facebook Open Source" width="170" height="45"/></a><section class="copyright">Copyright © 2020 Facebook Inc<br/>Legal:<a href="https://opensource.facebook.com/legal/privacy/" target="_blank" rel="noreferrer noopener">Privacy</a><a href="https://opensource.facebook.com/legal/terms/" target="_blank" rel="noreferrer noopener">Terms</a></section></footer></div></body></html>
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||||
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