423A35C7/pytorch3d
1
0
Fork 0
mirror of https://github.com/facebookresearch/pytorch3d.git synced 2025-12-20 22:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

coarse rasterization bug fix

Browse Source 
Summary:
Fix a bug which resulted in a rendering artifacts if the image size was not a multiple of 16.
Fix: Revert coarse rasterization to original implementation and only update fine rasterization to reverse the ordering of Y and X axis. This is much simpler than the previous approach!

Additional changes:
- updated mesh rendering end-end tests to check outputs from both naive and coarse to fine rasterization.
- added pointcloud rendering end-end tests

Reviewed By: gkioxari

Differential Revision: D21102725

fbshipit-source-id: 2e7e1b013dd6dd12b3a00b79eb8167deddb2e89a
This commit is contained in:
Nikhila Ravi
2020-04-20 14:51:19 -07:00
committed by Facebook GitHub Bot
parent 1e4749602d
commit 9ef1ee8455
15 changed files with 381 additions and 173 deletions
Download Patch File Download Diff File Expand all files Collapse all files

356
tests/test_render_meshes.py Normal file
View File

@@ -0,0 +1,356 @@
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
"""
Sanity checks for output images from the renderer.
"""
import unittest
from pathlib import Path
import numpy as np
import torch
from common_testing import TestCaseMixin, load_rgb_image
from PIL import Image
from pytorch3d.io import load_objs_as_meshes
from pytorch3d.renderer.cameras import OpenGLPerspectiveCameras, look_at_view_transform
from pytorch3d.renderer.lighting import PointLights
from pytorch3d.renderer.materials import Materials
from pytorch3d.renderer.mesh.rasterizer import MeshRasterizer, RasterizationSettings
from pytorch3d.renderer.mesh.renderer import MeshRenderer
from pytorch3d.renderer.mesh.shader import (
BlendParams,
HardFlatShader,
HardGouraudShader,
HardPhongShader,
SoftSilhouetteShader,
TexturedSoftPhongShader,
)
from pytorch3d.renderer.mesh.texturing import Textures
from pytorch3d.structures.meshes import Meshes
from pytorch3d.utils.ico_sphere import ico_sphere
# If DEBUG=True, save out images generated in the tests for debugging.
# All saved images have prefix DEBUG_
DEBUG = False
DATA_DIR = Path(__file__).resolve().parent / "data"
class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
def test_simple_sphere(self, elevated_camera=False):
"""
Test output of phong and gouraud shading matches a reference image using
the default values for the light sources.
Args:
elevated_camera: Defines whether the camera observing the scene should
have an elevation of 45 degrees.
"""
device = torch.device("cuda:0")
# Init mesh
sphere_mesh = ico_sphere(5, device)
verts_padded = sphere_mesh.verts_padded()
faces_padded = sphere_mesh.faces_padded()
textures = Textures(verts_rgb=torch.ones_like(verts_padded))
sphere_mesh = Meshes(verts=verts_padded, faces=faces_padded, textures=textures)
# Init rasterizer settings
if elevated_camera:
# Elevated and rotated camera
R, T = look_at_view_transform(dist=2.7, elev=45.0, azim=45.0)
postfix = "_elevated_camera"
# If y axis is up, the spot of light should
# be on the bottom left of the sphere.
else:
# No elevation or azimuth rotation
R, T = look_at_view_transform(2.7, 0.0, 0.0)
postfix = ""
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
# Init shader settings
materials = Materials(device=device)
lights = PointLights(device=device)
lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
raster_settings = RasterizationSettings(
image_size=512, blur_radius=0.0, faces_per_pixel=1
)
rasterizer = MeshRasterizer(cameras=cameras, raster_settings=raster_settings)
# Test several shaders
shaders = {
"phong": HardPhongShader,
"gouraud": HardGouraudShader,
"flat": HardFlatShader,
}
for (name, shader_init) in shaders.items():
shader = shader_init(lights=lights, cameras=cameras, materials=materials)
renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
images = renderer(sphere_mesh)
filename = "simple_sphere_light_%s%s.png" % (name, postfix)
image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
rgb = images[0, ..., :3].squeeze().cpu()
if DEBUG:
filename = "DEBUG_%s" % filename
Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
DATA_DIR / filename
)
self.assertClose(rgb, image_ref, atol=0.05)
########################################################
# Move the light to the +z axis in world space so it is
# behind the sphere. Note that +Z is in, +Y up,
# +X left for both world and camera space.
########################################################
lights.location[..., 2] = -2.0
phong_shader = HardPhongShader(
lights=lights, cameras=cameras, materials=materials
)
phong_renderer = MeshRenderer(rasterizer=rasterizer, shader=phong_shader)
images = phong_renderer(sphere_mesh, lights=lights)
rgb = images[0, ..., :3].squeeze().cpu()
if DEBUG:
filename = "DEBUG_simple_sphere_dark%s.png" % postfix
Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
DATA_DIR / filename
)
# Load reference image
image_ref_phong_dark = load_rgb_image(
"test_simple_sphere_dark%s.png" % postfix, DATA_DIR
)
self.assertClose(rgb, image_ref_phong_dark, atol=0.05)
def test_simple_sphere_elevated_camera(self):
"""
Test output of phong and gouraud shading matches a reference image using
the default values for the light sources.
The rendering is performed with a camera that has non-zero elevation.
"""
self.test_simple_sphere(elevated_camera=True)
def test_simple_sphere_batched(self):
"""
Test a mesh with vertex textures can be extended to form a batch, and
is rendered correctly with Phong, Gouraud and Flat Shaders.
"""
batch_size = 20
device = torch.device("cuda:0")
# Init mesh with vertex textures.
sphere_meshes = ico_sphere(5, device).extend(batch_size)
verts_padded = sphere_meshes.verts_padded()
faces_padded = sphere_meshes.faces_padded()
textures = Textures(verts_rgb=torch.ones_like(verts_padded))
sphere_meshes = Meshes(
verts=verts_padded, faces=faces_padded, textures=textures
)
# Init rasterizer settings
dist = torch.tensor([2.7]).repeat(batch_size).to(device)
elev = torch.zeros_like(dist)
azim = torch.zeros_like(dist)
R, T = look_at_view_transform(dist, elev, azim)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
raster_settings = RasterizationSettings(
image_size=512, blur_radius=0.0, faces_per_pixel=1
)
# Init shader settings
materials = Materials(device=device)
lights = PointLights(device=device)
lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
# Init renderer
rasterizer = MeshRasterizer(cameras=cameras, raster_settings=raster_settings)
shaders = {
"phong": HardGouraudShader,
"gouraud": HardGouraudShader,
"flat": HardFlatShader,
}
for (name, shader_init) in shaders.items():
shader = shader_init(lights=lights, cameras=cameras, materials=materials)
renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
images = renderer(sphere_meshes)
image_ref = load_rgb_image(
"test_simple_sphere_light_%s.png" % name, DATA_DIR
)
for i in range(batch_size):
rgb = images[i, ..., :3].squeeze().cpu()
self.assertClose(rgb, image_ref, atol=0.05)
def test_silhouette_with_grad(self):
"""
Test silhouette blending. Also check that gradient calculation works.
"""
device = torch.device("cuda:0")
ref_filename = "test_silhouette.png"
image_ref_filename = DATA_DIR / ref_filename
sphere_mesh = ico_sphere(5, device)
verts, faces = sphere_mesh.get_mesh_verts_faces(0)
sphere_mesh = Meshes(verts=[verts], faces=[faces])
blend_params = BlendParams(sigma=1e-4, gamma=1e-4)
raster_settings = RasterizationSettings(
image_size=512,
blur_radius=np.log(1.0 / 1e-4 - 1.0) * blend_params.sigma,
faces_per_pixel=80,
)
# Init rasterizer settings
R, T = look_at_view_transform(2.7, 0, 0)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
# Init renderer
renderer = MeshRenderer(
rasterizer=MeshRasterizer(cameras=cameras, raster_settings=raster_settings),
shader=SoftSilhouetteShader(blend_params=blend_params),
)
images = renderer(sphere_mesh)
alpha = images[0, ..., 3].squeeze().cpu()
if DEBUG:
Image.fromarray((alpha.numpy() * 255).astype(np.uint8)).save(
DATA_DIR / "DEBUG_silhouette.png"
)
with Image.open(image_ref_filename) as raw_image_ref:
image_ref = torch.from_numpy(np.array(raw_image_ref))
image_ref = image_ref.to(dtype=torch.float32) / 255.0
self.assertClose(alpha, image_ref, atol=0.055)
# Check grad exist
verts.requires_grad = True
sphere_mesh = Meshes(verts=[verts], faces=[faces])
images = renderer(sphere_mesh)
images[0, ...].sum().backward()
self.assertIsNotNone(verts.grad)
def test_texture_map(self):
"""
Test a mesh with a texture map is loaded and rendered correctly.
The pupils in the eyes of the cow should always be looking to the left.
"""
device = torch.device("cuda:0")
obj_dir = Path(__file__).resolve().parent.parent / "docs/tutorials/data"
obj_filename = obj_dir / "cow_mesh/cow.obj"
# Load mesh + texture
mesh = load_objs_as_meshes([obj_filename], device=device)
# Init rasterizer settings
R, T = look_at_view_transform(2.7, 0, 0)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
raster_settings = RasterizationSettings(
image_size=512, blur_radius=0.0, faces_per_pixel=1
)
# Init shader settings
materials = Materials(device=device)
lights = PointLights(device=device)
# Place light behind the cow in world space. The front of
# the cow is facing the -z direction.
lights.location = torch.tensor([0.0, 0.0, 2.0], device=device)[None]
# Init renderer
renderer = MeshRenderer(
rasterizer=MeshRasterizer(cameras=cameras, raster_settings=raster_settings),
shader=TexturedSoftPhongShader(
lights=lights, cameras=cameras, materials=materials
),
)
# Load reference image
image_ref = load_rgb_image("test_texture_map_back.png", DATA_DIR)
for bin_size in [0, None]:
# Check both naive and coarse to fine produce the same output.
renderer.rasterizer.raster_settings.bin_size = bin_size
images = renderer(mesh)
rgb = images[0, ..., :3].squeeze().cpu()
if DEBUG:
Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
DATA_DIR / "DEBUG_texture_map_back.png"
)
# NOTE some pixels can be flaky and will not lead to
# `cond1` being true. Add `cond2` and check `cond1 or cond2`
cond1 = torch.allclose(rgb, image_ref, atol=0.05)
cond2 = ((rgb - image_ref).abs() > 0.05).sum() < 5
self.assertTrue(cond1 or cond2)
# Check grad exists
[verts] = mesh.verts_list()
verts.requires_grad = True
mesh2 = Meshes(verts=[verts], faces=mesh.faces_list(), textures=mesh.textures)
images = renderer(mesh2)
images[0, ...].sum().backward()
self.assertIsNotNone(verts.grad)
##########################################
# Check rendering of the front of the cow
##########################################
R, T = look_at_view_transform(2.7, 0, 180)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
# Move light to the front of the cow in world space
lights.location = torch.tensor([0.0, 0.0, -2.0], device=device)[None]
# Load reference image
image_ref = load_rgb_image("test_texture_map_front.png", DATA_DIR)
for bin_size in [0, None]:
# Check both naive and coarse to fine produce the same output.
renderer.rasterizer.raster_settings.bin_size = bin_size
images = renderer(mesh, cameras=cameras, lights=lights)
rgb = images[0, ..., :3].squeeze().cpu()
if DEBUG:
Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
DATA_DIR / "DEBUG_texture_map_front.png"
)
# NOTE some pixels can be flaky and will not lead to
# `cond1` being true. Add `cond2` and check `cond1 or cond2`
cond1 = torch.allclose(rgb, image_ref, atol=0.05)
cond2 = ((rgb - image_ref).abs() > 0.05).sum() < 5
self.assertTrue(cond1 or cond2)
#################################
# Add blurring to rasterization
#################################
R, T = look_at_view_transform(2.7, 0, 180)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
blend_params = BlendParams(sigma=5e-4, gamma=1e-4)
raster_settings = RasterizationSettings(
image_size=512,
blur_radius=np.log(1.0 / 1e-4 - 1.0) * blend_params.sigma,
faces_per_pixel=100,
)
# Load reference image
image_ref = load_rgb_image("test_blurry_textured_rendering.png", DATA_DIR)
for bin_size in [0, None]:
# Check both naive and coarse to fine produce the same output.
renderer.rasterizer.raster_settings.bin_size = bin_size
images = renderer(
mesh.clone(),
cameras=cameras,
raster_settings=raster_settings,
blend_params=blend_params,
)
rgb = images[0, ..., :3].squeeze().cpu()
if DEBUG:
Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
DATA_DIR / "DEBUG_blurry_textured_rendering.png"
)
self.assertClose(rgb, image_ref, atol=0.05)