PLY TexturesVertex loading

Summary:
Include TexturesVertex colors when loading and saving Meshes to PLY files.

A couple of other improvements to the internals of ply_io, including using `None` instead of empty tensors for some missing data.

Reviewed By: gkioxari

Differential Revision: D27765260

fbshipit-source-id: b9857dc777c244b9d7d6643b608596d31435ecda

pytorch3d/io/ply_io.py

@@ -20,6 +20,7 @@ import numpy as np
 import torch
 from iopath.common.file_io import PathManager
 from pytorch3d.io.utils import _check_faces_indices, _make_tensor, _open_file
+from pytorch3d.renderer import TexturesVertex
 from pytorch3d.structures import Meshes, Pointclouds
 
 from .pluggable_formats import (
@@ -66,7 +67,7 @@ class _PlyElementType:
     def __init__(self, name: str, count: int):
         self.name = name
         self.count = count
-        self.properties = []
+        self.properties: List[_Property] = []
 
     def add_property(
         self, name: str, data_type: str, list_size_type: Optional[str] = None
@@ -142,7 +143,7 @@ class _PlyHeader:
         if f.readline() not in [b"ply\n", b"ply\r\n", "ply\n"]:
             raise ValueError("Invalid file header.")
         seen_format = False
-        self.elements = []
+        self.elements: List[_PlyElementType] = []
         self.obj_info = []
         while True:
             line = f.readline()
@@ -891,8 +892,8 @@ def _get_verts(
 
 
 def _load_ply(
-    f, *, path_manager: PathManager, return_vertex_colors: bool = False
+    f, *, path_manager: PathManager
-) -> Tuple[torch.Tensor, torch.Tensor, Optional[torch.Tensor]]:
+) -> Tuple[torch.Tensor, Optional[torch.Tensor], Optional[torch.Tensor]]:
     """
     Load the data from a .ply file.
 
@@ -903,12 +904,11 @@ def _load_ply(
             ply format, then a text stream is not supported.
             It is easiest to use a binary stream in all cases.
         path_manager: PathManager for loading if f is a str.
-        return_vertex_colors: whether to return vertex colors.
 
     Returns:
         verts: FloatTensor of shape (V, 3).
         faces: None or LongTensor of vertex indices, shape (F, 3).
-        vertex_colors: None or FloatTensor of shape (V, 3), only if requested
+        vertex_colors: None or FloatTensor of shape (V, 3).
     """
     header, elements = _load_ply_raw(f, path_manager=path_manager)
 
@@ -950,16 +950,17 @@ def _load_ply(
     if faces is not None:
         _check_faces_indices(faces, max_index=verts.shape[0])
 
-    if return_vertex_colors:
+    return verts, faces, vertex_colors
-        return verts, faces, vertex_colors
-    return verts, faces, None
 
 
 def load_ply(
     f, *, path_manager: Optional[PathManager] = None
 ) -> Tuple[torch.Tensor, torch.Tensor]:
     """
-    Load the data from a .ply file.
+    Load the verts and faces from a .ply file.
+    Note that the preferred way to load data from such a file
+    is to use the IO.load_mesh and IO.load_pointcloud functions,
+    which can read more of the data.
 
     Example .ply file format:
 
@@ -1016,8 +1017,8 @@ def _save_ply(
     *,
     verts: torch.Tensor,
     faces: Optional[torch.LongTensor],
-    verts_normals: torch.Tensor,
+    verts_normals: Optional[torch.Tensor],
-    verts_colors: torch.Tensor,
+    verts_colors: Optional[torch.Tensor],
     ascii: bool,
     decimal_places: Optional[int] = None,
 ) -> None:
@@ -1029,16 +1030,16 @@ def _save_ply(
         verts: FloatTensor of shape (V, 3) giving vertex coordinates.
         faces: LongTensor of shape (F, 3) giving faces.
         verts_normals: FloatTensor of shape (V, 3) giving vertex normals.
+        verts_colors: FloatTensor of shape (V, 3) giving vertex colors.
         ascii: (bool) whether to use the ascii ply format.
         decimal_places: Number of decimal places for saving if ascii=True.
     """
     assert not len(verts) or (verts.dim() == 2 and verts.size(1) == 3)
-    if faces is not None:
+    assert faces is None or not len(faces) or (faces.dim() == 2 and faces.size(1) == 3)
-        assert not len(faces) or (faces.dim() == 2 and faces.size(1) == 3)
+    assert verts_normals is None or (
-    assert not len(verts_normals) or (
         verts_normals.dim() == 2 and verts_normals.size(1) == 3
     )
-    assert not len(verts_colors) or (
+    assert verts_colors is None or (
         verts_colors.dim() == 2 and verts_colors.size(1) == 3
     )
 
@@ -1052,11 +1053,11 @@ def _save_ply(
     f.write(b"property float x\n")
     f.write(b"property float y\n")
     f.write(b"property float z\n")
-    if verts_normals.numel() > 0:
+    if verts_normals is not None:
         f.write(b"property float nx\n")
         f.write(b"property float ny\n")
         f.write(b"property float nz\n")
-    if verts_colors.numel() > 0:
+    if verts_colors is not None:
         f.write(b"property float red\n")
         f.write(b"property float green\n")
         f.write(b"property float blue\n")
@@ -1069,7 +1070,13 @@ def _save_ply(
         warnings.warn("Empty 'verts' provided")
         return
 
-    vert_data = torch.cat((verts, verts_normals, verts_colors), dim=1).detach().numpy()
+    verts_tensors = [verts]
+    if verts_normals is not None:
+        verts_tensors.append(verts_normals)
+    if verts_colors is not None:
+        verts_tensors.append(verts_colors)
+
+    vert_data = torch.cat(verts_tensors, dim=1).detach().cpu().numpy()
     if ascii:
         if decimal_places is None:
             float_str = "%f"
@@ -1085,7 +1092,7 @@ def _save_ply(
             vert_data.tofile(f)
 
     if faces is not None:
-        faces_array = faces.detach().numpy()
+        faces_array = faces.detach().cpu().numpy()
 
         _check_faces_indices(faces, max_index=verts.shape[0])
 
@@ -1125,12 +1132,6 @@ def save_ply(
 
     """
 
-    verts_normals = (
-        torch.tensor([], dtype=torch.float32, device=verts.device)
-        if verts_normals is None
-        else verts_normals
-    )
-
     if len(verts) and not (verts.dim() == 2 and verts.size(1) == 3):
         message = "Argument 'verts' should either be empty or of shape (num_verts, 3)."
         raise ValueError(message)
@@ -1143,16 +1144,18 @@ def save_ply(
         message = "Argument 'faces' should either be empty or of shape (num_faces, 3)."
         raise ValueError(message)
 
-    if len(verts_normals) and not (
+    if (
-        verts_normals.dim() == 2
+        verts_normals is not None
-        and verts_normals.size(1) == 3
+        and len(verts_normals)
-        and verts_normals.size(0) == verts.size(0)
+        and not (
+            verts_normals.dim() == 2
+            and verts_normals.size(1) == 3
+            and verts_normals.size(0) == verts.size(0)
+        )
     ):
         message = "Argument 'verts_normals' should either be empty or of shape (num_verts, 3)."
         raise ValueError(message)
 
-    verts_colors = torch.FloatTensor([])
-
     if path_manager is None:
         path_manager = PathManager()
     with _open_file(f, path_manager, "wb") as f:
@@ -1161,7 +1164,7 @@ def save_ply(
             verts=verts,
             faces=faces,
             verts_normals=verts_normals,
-            verts_colors=verts_colors,
+            verts_colors=None,
             ascii=ascii,
             decimal_places=decimal_places,
         )
@@ -1182,8 +1185,19 @@ class MeshPlyFormat(MeshFormatInterpreter):
         if not endswith(path, self.known_suffixes):
             return None
 
-        verts, faces = load_ply(f=path, path_manager=path_manager)
+        verts, faces, verts_colors = _load_ply(f=path, path_manager=path_manager)
-        mesh = Meshes(verts=[verts.to(device)], faces=[faces.to(device)])
+        if faces is None:
+            faces = torch.zeros(0, 3, dtype=torch.int64)
+
+        textures = None
+        if include_textures and verts_colors is not None:
+            textures = TexturesVertex([verts_colors.to(device)])
+
+        mesh = Meshes(
+            verts=[verts.to(device)],
+            faces=[faces.to(device)],
+            textures=textures,
+        )
         return mesh
 
     def save(
@@ -1201,14 +1215,30 @@ class MeshPlyFormat(MeshFormatInterpreter):
         # TODO: normals are not saved. We only want to save them if they already exist.
         verts = data.verts_list()[0]
         faces = data.faces_list()[0]
-        save_ply(
+
-            f=path,
+        if isinstance(data.textures, TexturesVertex):
-            verts=verts,
+            mesh_verts_colors = data.textures.verts_features_list()[0]
-            faces=faces,
+            n_colors = mesh_verts_colors.shape[1]
-            ascii=binary is False,
+            if n_colors == 3:
-            decimal_places=decimal_places,
+                verts_colors = mesh_verts_colors
-            path_manager=path_manager,
+            else:
-        )
+                warnings.warn(
+                    f"Texture will not be saved as it has {n_colors} colors, not 3."
+                )
+                verts_colors = None
+        else:
+            verts_colors = None
+
+        with _open_file(path, path_manager, "wb") as f:
+            _save_ply(
+                f=f,
+                verts=verts,
+                faces=faces,
+                verts_colors=verts_colors,
+                verts_normals=None,
+                ascii=binary is False,
+                decimal_places=decimal_places,
+            )
         return True
 
 
@@ -1226,14 +1256,12 @@ class PointcloudPlyFormat(PointcloudFormatInterpreter):
         if not endswith(path, self.known_suffixes):
             return None
 
-        verts, faces, features = _load_ply(
+        verts, faces, features = _load_ply(f=path, path_manager=path_manager)
-            f=path, path_manager=path_manager, return_vertex_colors=True
-        )
         verts = verts.to(device)
-        if features is None:
+        if features is not None:
-            pointcloud = Pointclouds(points=[verts])
+            features = [features.to(device)]
-        else:
+
-            pointcloud = Pointclouds(points=[verts], features=[features.to(device)])
+        pointcloud = Pointclouds(points=[verts], features=features)
         return pointcloud
 
     def save(
@@ -1249,13 +1277,14 @@ class PointcloudPlyFormat(PointcloudFormatInterpreter):
             return False
 
         points = data.points_list()[0]
-        features = data.features_list()[0]
+        features = data.features_packed()
+
         with _open_file(path, path_manager, "wb") as f:
             _save_ply(
                 f=f,
                 verts=points,
                 verts_colors=features,
-                verts_normals=torch.FloatTensor([]),
+                verts_normals=None,
                 faces=None,
                 ascii=binary is False,
                 decimal_places=decimal_places,

tests/test_io_ply.py

@@ -1,5 +1,6 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
 
+import itertools
 import struct
 import unittest
 from io import BytesIO, StringIO
@@ -12,7 +13,8 @@ from common_testing import TestCaseMixin
 from iopath.common.file_io import PathManager
 from pytorch3d.io import IO
 from pytorch3d.io.ply_io import load_ply, save_ply
-from pytorch3d.structures import Pointclouds
+from pytorch3d.renderer.mesh import TexturesVertex
+from pytorch3d.structures import Meshes, Pointclouds
 from pytorch3d.utils import torus
 
 
@@ -189,6 +191,57 @@ class TestMeshPlyIO(TestCaseMixin, unittest.TestCase):
             ):
                 io.load_mesh(f3.name)
 
+    def test_save_too_many_colors(self):
+        verts = torch.tensor(
+            [[0, 0, 0], [0, 0, 1], [0, 1, 0], [1, 0, 0]], dtype=torch.float32
+        )
+        faces = torch.tensor([[0, 1, 2], [0, 2, 3]])
+        vert_colors = torch.rand((4, 7))
+        texture_with_seven_colors = TexturesVertex(verts_features=[vert_colors])
+
+        mesh = Meshes(
+            verts=[verts],
+            faces=[faces],
+            textures=texture_with_seven_colors,
+        )
+
+        io = IO()
+        msg = "Texture will not be saved as it has 7 colors, not 3."
+        with NamedTemporaryFile(mode="w", suffix=".ply") as f:
+            with self.assertWarnsRegex(UserWarning, msg):
+                io.save_mesh(mesh.cuda(), f.name)
+
+    def test_save_load_meshes(self):
+        verts = torch.tensor(
+            [[0, 0, 0], [0, 0, 1], [0, 1, 0], [1, 0, 0]], dtype=torch.float32
+        )
+        faces = torch.tensor([[0, 1, 2], [0, 2, 3]])
+        vert_colors = torch.rand_like(verts)
+        texture = TexturesVertex(verts_features=[vert_colors])
+
+        for do_textures in itertools.product([True, False]):
+            mesh = Meshes(
+                verts=[verts],
+                faces=[faces],
+                textures=texture if do_textures else None,
+            )
+            device = torch.device("cuda:0")
+
+            io = IO()
+            with NamedTemporaryFile(mode="w", suffix=".ply") as f:
+                io.save_mesh(mesh.cuda(), f.name)
+                f.flush()
+                mesh2 = io.load_mesh(f.name, device=device)
+            self.assertEqual(mesh2.device, device)
+            mesh2 = mesh2.cpu()
+            self.assertClose(mesh2.verts_padded(), mesh.verts_padded())
+            self.assertClose(mesh2.faces_padded(), mesh.faces_padded())
+            if do_textures:
+                self.assertIsInstance(mesh2.textures, TexturesVertex)
+                self.assertClose(mesh2.textures.verts_features_list()[0], vert_colors)
+            else:
+                self.assertIsNone(mesh2.textures)
+
     def test_save_ply_invalid_shapes(self):
         # Invalid vertices shape
         with self.assertRaises(ValueError) as error: