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barycentric clipping in cuda/c++
Summary: Added support for barycentric clipping in the C++/CUDA rasterization kernels which can be switched on/off via a rasterization setting. Added tests and a benchmark to compare with the current implementation in PyTorch - for some cases of large image size/faces per pixel the cuda version is 10x faster. Reviewed By: gkioxari Differential Revision: D21705503 fbshipit-source-id: e835c0f927f1e5088ca89020aef5ff27ac3a8769
This commit is contained in:
Nikhila Ravi
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Facebook GitHub Bot
Facebook GitHub Bot
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bce396df93
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cc70950f40
@@ -10,6 +10,10 @@ from pytorch3d.renderer.mesh.rasterize_meshes import (
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rasterize_meshes,
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rasterize_meshes_python,
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)
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from pytorch3d.renderer.mesh.utils import (
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_clip_barycentric_coordinates,
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_interpolate_zbuf,
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)
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from pytorch3d.structures import Meshes
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from pytorch3d.utils import ico_sphere
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@@ -21,6 +25,7 @@ class TestRasterizeMeshes(TestCaseMixin, unittest.TestCase):
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self._simple_blurry_raster(rasterize_meshes_python, device, bin_size=-1)
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self._test_behind_camera(rasterize_meshes_python, device, bin_size=-1)
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self._test_perspective_correct(rasterize_meshes_python, device, bin_size=-1)
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self._test_barycentric_clipping(rasterize_meshes_python, device, bin_size=-1)
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self._test_back_face_culling(rasterize_meshes_python, device, bin_size=-1)
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def test_simple_cpu_naive(self):
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@@ -170,8 +175,29 @@ class TestRasterizeMeshes(TestCaseMixin, unittest.TestCase):
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verts2.requires_grad = True
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meshes_cuda = Meshes(verts=[verts2], faces=[faces2])
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args_cpu = (meshes_cpu, image_size, radius, faces_per_pixel)
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args_cuda = (meshes_cuda, image_size, radius, faces_per_pixel, 0, 0)
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barycentric_clip = True
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args_cpu = (
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meshes_cpu,
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image_size,
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radius,
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faces_per_pixel,
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None,
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None,
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False,
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barycentric_clip,
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False,
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)
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args_cuda = (
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meshes_cuda,
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image_size,
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radius,
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faces_per_pixel,
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0,
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0,
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False,
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barycentric_clip,
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False,
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)
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self._compare_impls(
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rasterize_meshes,
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rasterize_meshes,
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@@ -333,6 +359,39 @@ class TestRasterizeMeshes(TestCaseMixin, unittest.TestCase):
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idxs_cuda[:K] = sorted(idxs_cuda[:K])
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self.assertEqual(idxs_cpu, idxs_cuda)
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def test_python_vs_cpp_bary_clip(self):
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torch.manual_seed(232)
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N = 2
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V = 10
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F = 5
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verts1 = torch.randn(N, V, 3, requires_grad=True)
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verts2 = verts1.detach().clone().requires_grad_(True)
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faces = torch.randint(V, size=(N, F, 3))
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meshes1 = Meshes(verts1, faces)
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meshes2 = Meshes(verts2, faces)
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kwargs = {"image_size": 24, "clip_barycentric_coords": True}
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fn1 = functools.partial(rasterize_meshes, meshes1, **kwargs)
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fn2 = functools.partial(rasterize_meshes_python, meshes2, **kwargs)
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args = ()
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self._compare_impls(fn1, fn2, args, args, verts1, verts2, compare_grads=True)
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def test_cpp_vs_cuda_bary_clip(self):
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meshes = ico_sphere(2, device=torch.device("cpu"))
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verts1, faces1 = meshes.get_mesh_verts_faces(0)
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verts1.requires_grad = True
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meshes1 = Meshes(verts=[verts1], faces=[faces1])
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device = get_random_cuda_device()
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verts2 = verts1.detach().to(device).requires_grad_(True)
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faces2 = faces1.detach().clone().to(device)
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meshes2 = Meshes(verts=[verts2], faces=[faces2])
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kwargs = {"image_size": 64, "clip_barycentric_coords": True}
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fn1 = functools.partial(rasterize_meshes, meshes1, **kwargs)
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fn2 = functools.partial(rasterize_meshes, meshes2, bin_size=0, **kwargs)
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args = ()
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self._compare_impls(fn1, fn2, args, args, verts1, verts2, compare_grads=True)
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def test_python_vs_cpp_perspective_correct(self):
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torch.manual_seed(232)
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N = 2
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@@ -621,6 +680,82 @@ class TestRasterizeMeshes(TestCaseMixin, unittest.TestCase):
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self.assertLess(zbuf_f_bary_diff, 1e-4)
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self.assertLess(zbuf_t_bary_diff, 1e-4)
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def _test_barycentric_clipping(self, rasterize_meshes_fn, device, bin_size=None):
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# fmt: off
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verts = torch.tensor([
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[-0.4, -0.4, 10], # noqa: E241, E201
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[ 0.4, -0.4, 10], # noqa: E241, E201
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[ 0.0, 0.4, 20], # noqa: E241, E201
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], dtype=torch.float32, device=device)
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# fmt: on
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faces = torch.tensor([[0, 1, 2]], device=device)
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meshes = Meshes(verts=[verts], faces=[faces])
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kwargs = {
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"meshes": meshes,
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"image_size": 5,
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"faces_per_pixel": 1,
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"blur_radius": 0.2,
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"perspective_correct": False,
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"clip_barycentric_coords": False, # Initially set this to false
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}
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if bin_size != -1:
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kwargs["bin_size"] = bin_size
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# Run with and without perspective correction
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idx_f, zbuf_f, bary_f, dists_f = rasterize_meshes_fn(**kwargs)
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# fmt: off
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expected_bary = torch.tensor([
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[
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[-1.0000, -1.0000, -1.0000], # noqa: E241, E201
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[-1.0000, -1.0000, -1.0000], # noqa: E241, E201
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[-0.2500, -0.2500, 1.5000], # noqa: E241, E201
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[-1.0000, -1.0000, -1.0000], # noqa: E241, E201
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[-1.0000, -1.0000, -1.0000] # noqa: E241, E201
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],
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[
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[-1.0000, -1.0000, -1.0000], # noqa: E241, E201
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[-0.5000, 0.5000, 1.0000], # noqa: E241, E201
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[-0.0000, -0.0000, 1.0000], # noqa: E241, E201
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[ 0.5000, -0.5000, 1.0000], # noqa: E241, E201
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[-1.0000, -1.0000, -1.0000] # noqa: E241, E201
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],
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[
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[-1.0000, -1.0000, -1.0000], # noqa: E241, E201
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[-0.2500, 0.7500, 0.5000], # noqa: E241, E201
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[ 0.2500, 0.2500, 0.5000], # noqa: E241, E201
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[ 0.7500, -0.2500, 0.5000], # noqa: E241, E201
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[-1.0000, -1.0000, -1.0000] # noqa: E241, E201
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],
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[
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[-0.5000, 1.5000, -0.0000], # noqa: E241, E201
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[-0.0000, 1.0000, -0.0000], # noqa: E241, E201
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[ 0.5000, 0.5000, -0.0000], # noqa: E241, E201
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[ 1.0000, -0.0000, -0.0000], # noqa: E241, E201
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[ 1.5000, -0.5000, 0.0000] # noqa: E241, E201
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],
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[
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[-1.0000, -1.0000, -1.0000], # noqa: E241, E201
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[ 0.2500, 1.2500, -0.5000], # noqa: E241, E201
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[ 0.7500, 0.7500, -0.5000], # noqa: E241, E201
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[ 1.2500, 0.2500, -0.5000], # noqa: E241, E201
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[-1.0000, -1.0000, -1.0000] # noqa: E241, E201
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]
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], dtype=torch.float32, device=device).view(1, 5, 5, 1, 3)
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# fmt: on
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self.assertClose(expected_bary, bary_f, atol=1e-4)
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# calculate the expected clipped barycentrics and zbuf
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expected_bary_clipped = _clip_barycentric_coordinates(expected_bary)
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expected_z_clipped = _interpolate_zbuf(idx_f, expected_bary_clipped, meshes)
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kwargs["clip_barycentric_coords"] = True
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idx_t, zbuf_t, bary_t, dists_t = rasterize_meshes_fn(**kwargs)
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self.assertClose(expected_bary_clipped, bary_t, atol=1e-4)
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self.assertClose(expected_z_clipped, zbuf_t, atol=1e-4)
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def _test_behind_camera(self, rasterize_meshes_fn, device, bin_size=None):
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"""
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All verts are behind the camera so nothing should get rasterized.
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