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scaffold

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Summary: Forward method is sped up using the scaffold, a low resolution voxel grid which is used to filter out the points in empty space. These points will be predicted as having 0 density and (0, 0, 0) color. The points which were not evaluated as empty space will be passed through the steps outlined above.

Reviewed By: kjchalup

Differential Revision: D39579671

fbshipit-source-id: 8eab8bb43ef77c2a73557efdb725e99a6c60d415
This commit is contained in:
Darijan Gudelj
2022-10-10 11:01:00 -07:00
committed by Facebook GitHub Bot
parent 95a2acf763
commit 56d3465b09
3 changed files with 173 additions and 45 deletions
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22
tests/implicitron/test_voxel_grids.py
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@@ -35,9 +35,6 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
one by one sample and comparing with the batched implementation.
"""
def test_my_code(self):
return
def get_random_normalized_points(
self, n_grids, n_points=None, dimension=3
) -> torch.Tensor:
@@ -293,6 +290,8 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
padding_mode="zeros",
mode="bilinear",
),
rtol=0.0001,
atol=0.0001,
)
with self.subTest("2D interpolation"):
points = self.get_random_normalized_points(
@@ -308,6 +307,8 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
padding_mode="zeros",
mode="bilinear",
),
rtol=0.0001,
atol=0.0001,
)
with self.subTest("3D interpolation"):
@@ -325,6 +326,7 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
mode="bilinear",
),
rtol=0.0001,
atol=0.0001,
)
def test_floating_point_query(self):
@@ -378,7 +380,8 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
assert torch.allclose(
grid.evaluate_local(points, params),
expected_result,
rtol=0.00001,
rtol=0.0001,
atol=0.0001,
), grid.evaluate_local(points, params)
with self.subTest("CP"):
grid = CPFactorizedVoxelGrid(
@@ -446,14 +449,16 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
assert torch.allclose(
grid.evaluate_local(points, params),
expected_result_matrix,
rtol=0.00001,
rtol=0.0001,
atol=0.0001,
)
del params.basis_matrix
with self.subTest("CP with sum reduction"):
assert torch.allclose(
grid.evaluate_local(points, params),
expected_result_sum,
rtol=0.00001,
rtol=0.0001,
atol=0.0001,
)
with self.subTest("VM"):
@@ -540,7 +545,8 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
assert torch.allclose(
grid.evaluate_local(points, params),
expected_result_matrix,
rtol=0.00001,
rtol=0.0001,
atol=0.0001,
)
del params.basis_matrix
with self.subTest("VM with sum reduction"):
@@ -548,6 +554,7 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
grid.evaluate_local(points, params),
expected_result_sum,
rtol=0.0001,
atol=0.0001,
), grid.evaluate_local(points, params)
def test_forward_with_small_init_std(self):
@@ -613,6 +620,7 @@ class TestVoxelGrids(TestCaseMixin, unittest.TestCase):
grid(world_point)[0, 0],
grid.voxel_grid.evaluate_local(local_point[None], grid_values)[0, 0, 0],
rtol=0.0001,
atol=0.0001,
)
def test_resolution_change(self, n_times=10):