Updates to Implicitron dataset, metrics and tools

Summary: Update Pytorch3D to be able to run assetgen (see later diffs in the stack)

Reviewed By: shapovalov

Differential Revision: D65942513

fbshipit-source-id: 1d01141c9f7e106608fa591be6e0d3262cb5944f

pytorch3d/implicitron/dataset/frame_data.py

@@ -48,6 +48,7 @@ from pytorch3d.implicitron.dataset.utils import (
 from pytorch3d.implicitron.tools.config import registry, ReplaceableBase
 from pytorch3d.renderer.camera_utils import join_cameras_as_batch
 from pytorch3d.renderer.cameras import CamerasBase, PerspectiveCameras
+from pytorch3d.structures.meshes import join_meshes_as_batch, Meshes
 from pytorch3d.structures.pointclouds import join_pointclouds_as_batch, Pointclouds
 
 FrameAnnotationT = types.FrameAnnotation | orm_types.SqlFrameAnnotation
@@ -158,7 +159,7 @@ class FrameData(Mapping[str, Any]):
         new_params = {}
         for field_name in iter(self):
             value = getattr(self, field_name)
-            if isinstance(value, (torch.Tensor, Pointclouds, CamerasBase)):
+            if isinstance(value, (torch.Tensor, Pointclouds, CamerasBase, Meshes)):
                 new_params[field_name] = value.to(*args, **kwargs)
             else:
                 new_params[field_name] = value
@@ -420,7 +421,6 @@ class FrameData(Mapping[str, Any]):
             for f in fields(elem):
                 if not f.init:
                     continue
-
                 list_values = override_fields.get(
                     f.name, [getattr(d, f.name) for d in batch]
                 )
@@ -429,7 +429,7 @@ class FrameData(Mapping[str, Any]):
                     if all(list_value is not None for list_value in list_values)
                     else None
                 )
-            return cls(**collated)
+            return type(elem)(**collated)
 
         elif isinstance(elem, Pointclouds):
             return join_pointclouds_as_batch(batch)
@@ -437,6 +437,8 @@ class FrameData(Mapping[str, Any]):
         elif isinstance(elem, CamerasBase):
             # TODO: don't store K; enforce working in NDC space
             return join_cameras_as_batch(batch)
+        elif isinstance(elem, Meshes):
+            return join_meshes_as_batch(batch)
         else:
             return torch.utils.data.dataloader.default_collate(batch)
 
@@ -592,6 +594,7 @@ class GenericFrameDataBuilder(FrameDataBuilderBase[FrameDataSubtype], ABC):
         fg_mask_np: np.ndarray | None = None
         bbox_xywh: tuple[float, float, float, float] | None = None
         mask_annotation = frame_annotation.mask
+
         if mask_annotation is not None:
             if load_blobs and self.load_masks:
                 fg_mask_np, mask_path = self._load_fg_probability(frame_annotation)