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Simplify transforms in point rasterizer

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Summary: Update the transform step in the pointcloud rasterizer to use the `update_padded` method on `Pointclouds`.  There was an inefficient step using `offset_points` which went via the packed represntation (and required unecessary additional memory). I think this was before the `update_padded` method was added to `Pointclouds`.

Reviewed By: gkioxari

Differential Revision: D22329166

fbshipit-source-id: 76db8a19654fb2f7807635d4f1c1729debdf3320
This commit is contained in:
Nikhila Ravi 2020-07-07 15:28:38 -07:00 committed by Facebook GitHub Bot
parent 876bdff2f6
commit ce3da64917
1 changed files with 8 additions and 12 deletions
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20
pytorch3d/renderer/points/rasterizer.py
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@ -86,22 +86,18 @@ class PointsRasterizer(nn.Module):
raise ValueError(msg)
pts_world = point_clouds.points_padded()
pts_world_packed = point_clouds.points_packed()
pts_screen = cameras.transform_points(pts_world, **kwargs)
# NOTE: Retaining view space z coordinate for now.
# TODO: Remove this line when the convention for the z coordinate in
# the rasterizer is decided. i.e. retain z in view space or transform
# to a different range.
view_transform = get_world_to_view_transform(R=cameras.R, T=cameras.T)
verts_view = view_transform.transform_points(pts_world)
pts_screen[..., 2] = verts_view[..., 2]
# Offset points of input pointcloud to reuse cached padded/packed calculations.
pad_to_packed_idx = point_clouds.padded_to_packed_idx()
pts_screen_packed = pts_screen.view(-1, 3)[pad_to_packed_idx, :]
pts_packed_offset = pts_screen_packed - pts_world_packed
point_clouds = point_clouds.offset(pts_packed_offset)
pts_view = cameras.get_world_to_view_transform(**kwargs).transform_points(
pts_world
)
pts_screen = cameras.get_projection_transform(**kwargs).transform_points(
pts_view
)
pts_screen[..., 2] = pts_view[..., 2]
point_clouds = point_clouds.update_padded(pts_screen)
return point_clouds
def forward(self, point_clouds, **kwargs) -> PointFragments: