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coarse rasterization bug fix
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
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Facebook GitHub Bot
Facebook GitHub Bot
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173
tests/test_render_points.py
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173
tests/test_render_points.py
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# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
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"""
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Sanity checks for output images from the pointcloud renderer.
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"""
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import unittest
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import warnings
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from os import path
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from pathlib import Path
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import numpy as np
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import torch
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from common_testing import TestCaseMixin, load_rgb_image
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from PIL import Image
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from pytorch3d.renderer.cameras import (
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OpenGLOrthographicCameras,
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OpenGLPerspectiveCameras,
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look_at_view_transform,
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)
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from pytorch3d.renderer.points import (
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AlphaCompositor,
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NormWeightedCompositor,
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PointsRasterizationSettings,
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PointsRasterizer,
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PointsRenderer,
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)
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from pytorch3d.structures.pointclouds import Pointclouds
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from pytorch3d.utils.ico_sphere import ico_sphere
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# If DEBUG=True, save out images generated in the tests for debugging.
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# All saved images have prefix DEBUG_
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DEBUG = False
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DATA_DIR = Path(__file__).resolve().parent / "data"
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class TestRenderPoints(TestCaseMixin, unittest.TestCase):
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def test_simple_sphere(self):
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device = torch.device("cuda:0")
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sphere_mesh = ico_sphere(1, device)
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verts_padded = sphere_mesh.verts_padded()
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# Shift vertices to check coordinate frames are correct.
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verts_padded[..., 1] += 0.2
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verts_padded[..., 0] += 0.2
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pointclouds = Pointclouds(
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points=verts_padded, features=torch.ones_like(verts_padded)
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)
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R, T = look_at_view_transform(2.7, 0.0, 0.0)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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raster_settings = PointsRasterizationSettings(
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image_size=256, radius=5e-2, points_per_pixel=1
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)
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rasterizer = PointsRasterizer(cameras=cameras, raster_settings=raster_settings)
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compositor = NormWeightedCompositor()
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renderer = PointsRenderer(rasterizer=rasterizer, compositor=compositor)
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# Load reference image
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filename = "simple_pointcloud_sphere.png"
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image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
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for bin_size in [0, None]:
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# Check both naive and coarse to fine produce the same output.
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renderer.rasterizer.raster_settings.bin_size = bin_size
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images = renderer(pointclouds)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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filename = "DEBUG_%s" % filename
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / filename
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)
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self.assertClose(rgb, image_ref)
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def test_pointcloud_with_features(self):
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device = torch.device("cuda:0")
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file_dir = Path(__file__).resolve().parent.parent / "docs/tutorials/data"
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pointcloud_filename = file_dir / "PittsburghBridge/pointcloud.npz"
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# Note, this file is too large to check in to the repo.
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# Download the file to run the test locally.
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if not path.exists(pointcloud_filename):
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url = "https://dl.fbaipublicfiles.com/pytorch3d/data/PittsburghBridge/pointcloud.npz"
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msg = (
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"pointcloud.npz not found, download from %s, save it at the path %s, and rerun"
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% (url, pointcloud_filename)
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)
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warnings.warn(msg)
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return True
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# Load point cloud
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pointcloud = np.load(pointcloud_filename)
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verts = torch.Tensor(pointcloud["verts"]).to(device)
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rgb_feats = torch.Tensor(pointcloud["rgb"]).to(device)
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verts.requires_grad = True
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rgb_feats.requires_grad = True
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point_cloud = Pointclouds(points=[verts], features=[rgb_feats])
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R, T = look_at_view_transform(20, 10, 0)
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cameras = OpenGLOrthographicCameras(device=device, R=R, T=T, znear=0.01)
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raster_settings = PointsRasterizationSettings(
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# Set image_size so it is not a multiple of 16 (min bin_size)
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# in order to confirm that there are no errors in coarse rasterization.
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image_size=500,
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radius=0.003,
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points_per_pixel=10,
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)
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renderer = PointsRenderer(
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rasterizer=PointsRasterizer(
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cameras=cameras, raster_settings=raster_settings
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),
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compositor=AlphaCompositor(),
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)
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images = renderer(point_cloud)
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# Load reference image
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filename = "bridge_pointcloud.png"
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image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
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for bin_size in [0, None]:
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# Check both naive and coarse to fine produce the same output.
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renderer.rasterizer.raster_settings.bin_size = bin_size
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images = renderer(point_cloud)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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filename = "DEBUG_%s" % filename
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Image.fromarray((rgb.detach().numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / filename
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)
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self.assertClose(rgb, image_ref, atol=0.015)
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# Check grad exists.
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grad_images = torch.randn_like(images)
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images.backward(grad_images)
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self.assertIsNotNone(verts.grad)
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self.assertIsNotNone(rgb_feats.grad)
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def test_simple_sphere_batched(self):
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device = torch.device("cuda:0")
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sphere_mesh = ico_sphere(1, device)
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verts_padded = sphere_mesh.verts_padded()
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verts_padded[..., 1] += 0.2
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verts_padded[..., 0] += 0.2
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pointclouds = Pointclouds(
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points=verts_padded, features=torch.ones_like(verts_padded)
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)
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batch_size = 20
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pointclouds = pointclouds.extend(batch_size)
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R, T = look_at_view_transform(2.7, 0.0, 0.0)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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raster_settings = PointsRasterizationSettings(
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image_size=256, radius=5e-2, points_per_pixel=1
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)
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rasterizer = PointsRasterizer(cameras=cameras, raster_settings=raster_settings)
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compositor = NormWeightedCompositor()
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renderer = PointsRenderer(rasterizer=rasterizer, compositor=compositor)
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# Load reference image
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filename = "simple_pointcloud_sphere.png"
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image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
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images = renderer(pointclouds)
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for i in range(batch_size):
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rgb = images[i, ..., :3].squeeze().cpu()
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if i == 0 and DEBUG:
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filename = "DEBUG_%s" % filename
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / filename
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)
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self.assertClose(rgb, image_ref)
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