align_corners and padding for TexturesUV

Summary:
Allow, and make default, align_corners=True for texture maps. Allow changing the padding_mode and set the default to be "border" which produces more logical results. Some new documentation.

The previous behavior corresponds to padding_mode="zeros" and align_corners=False.

Reviewed By: gkioxari

Differential Revision: D23268775

fbshipit-source-id: 58d6229baa591baa69705bcf97471c80ba3651de

pytorch3d/renderer/mesh/textures.py

@@ -98,13 +98,14 @@ def _padded_to_list_wrapper(
 
 
 def _pad_texture_maps(
-    images: Union[Tuple[torch.Tensor], List[torch.Tensor]]
+    images: Union[Tuple[torch.Tensor], List[torch.Tensor]], align_corners: bool
 ) -> torch.Tensor:
     """
     Pad all texture images so they have the same height and width.
 
     Args:
-        images: list of N tensors of shape (H, W, 3)
+        images: list of N tensors of shape (H_i, W_i, 3)
+        align_corners: used for interpolation
 
     Returns:
         tex_maps: Tensor of shape (N, max_H, max_W, 3)
@@ -125,7 +126,7 @@ def _pad_texture_maps(
         if image.shape[:2] != max_shape:
             image_BCHW = image.permute(2, 0, 1)[None]
             new_image_BCHW = interpolate(
-                image_BCHW, size=max_shape, mode="bilinear", align_corners=False
+                image_BCHW, size=max_shape, mode="bilinear", align_corners=align_corners
             )
             tex_maps[i] = new_image_BCHW[0].permute(1, 2, 0)
     tex_maps = torch.stack(tex_maps, dim=0)  # (num_tex_maps, max_H, max_W, 3)
@@ -535,6 +536,8 @@ class TexturesUV(TexturesBase):
         maps: Union[torch.Tensor, List[torch.Tensor]],
         faces_uvs: Union[torch.Tensor, List[torch.Tensor], Tuple[torch.Tensor]],
         verts_uvs: Union[torch.Tensor, List[torch.Tensor], Tuple[torch.Tensor]],
+        padding_mode: str = "border",
+        align_corners: bool = True,
     ):
         """
         Textures are represented as a per mesh texture map and uv coordinates for each
@@ -543,11 +546,42 @@ class TexturesUV(TexturesBase):
         Args:
             maps: texture map per mesh. This can either be a list of maps
               [(H, W, 3)] or a padded tensor of shape (N, H, W, 3)
-            faces_uvs: (N, F, 3) tensor giving the index into verts_uvs for each face
+            faces_uvs: (N, F, 3) LongTensor giving the index into verts_uvs
+                        for each face
             verts_uvs: (N, V, 2) tensor giving the uv coordinates per vertex
-                         (a FloatTensor with values between 0 and 1)
+                        (a FloatTensor with values between 0 and 1).
+            align_corners: If true, the extreme values 0 and 1 for verts_uvs
+                            indicate the centers of the edge pixels in the maps.
+            padding_mode: padding mode for outside grid values
+                                ("zeros", "border" or "reflection").
+
+        The align_corners and padding_mode arguments correspond to the arguments
+        of the `grid_sample` torch function. There is an informative illustration of
+        the two align_corners options at
+        https://discuss.pytorch.org/t/22663/9 .
+
+        An example of how the indexing into the maps, with align_corners=True
+        works is as follows.
+        If maps[i] has shape [101, 1001] and the value of verts_uvs[i][j]
+        is [0.4, 0.3], then a value of j in faces_uvs[i] means a vertex
+        whose color is given by maps[i][700, 40]. padding_mode affects what
+        happens if a value in verts_uvs is less than 0 or greater than 1.
+        Note that increasing a value in verts_uvs[..., 0] increases an index
+        in maps, whereas increasing a value in verts_uvs[..., 1] _decreases_
+        an _earlier_ index in maps.
+
+        If align_corners=False, an example would be as follows.
+        If maps[i] has shape [100, 1000] and the value of verts_uvs[i][j]
+        is [0.405, 0.2995], then a value of j in faces_uvs[i] means a vertex
+        whose color is given by maps[i][700, 40].
+        In this case, padding_mode even matters for values in verts_uvs
+        slightly above 0 or slightly below 1. In this case, it matters if the
+        first value is outside the interval [0.0005, 0.9995] or if the second
+        is outside the interval [0.005, 0.995].
         """
         super().__init__()
+        self.padding_mode = padding_mode
+        self.align_corners = align_corners
         if isinstance(faces_uvs, (list, tuple)):
             for fv in faces_uvs:
                 # pyre-fixme[16]: `Tensor` has no attribute `ndim`.
@@ -632,7 +666,7 @@ class TexturesUV(TexturesBase):
                 raise ValueError("Expected one texture map per mesh in the batch.")
             self._maps_list = maps
             if self._N > 0:
-                maps = _pad_texture_maps(maps)
+                maps = _pad_texture_maps(maps, align_corners=self.align_corners)
             else:
                 maps = torch.empty(
                     (self._N, 0, 0, 3), dtype=torch.float32, device=self.device
@@ -698,11 +732,19 @@ class TexturesUV(TexturesBase):
         # if index has multiple values then faces/verts/maps may be a list of tensors
         if all(isinstance(f, (list, tuple)) for f in [faces_uvs, verts_uvs, maps]):
             new_tex = self.__class__(
-                faces_uvs=faces_uvs, verts_uvs=verts_uvs, maps=maps
+                faces_uvs=faces_uvs,
+                verts_uvs=verts_uvs,
+                maps=maps,
+                padding_mode=self.padding_mode,
+                align_corners=self.align_corners,
             )
         elif all(torch.is_tensor(f) for f in [faces_uvs, verts_uvs, maps]):
             new_tex = self.__class__(
-                faces_uvs=[faces_uvs], verts_uvs=[verts_uvs], maps=[maps]
+                faces_uvs=[faces_uvs],
+                verts_uvs=[verts_uvs],
+                maps=[maps],
+                padding_mode=self.padding_mode,
+                align_corners=self.align_corners,
             )
         else:
             raise ValueError("Not all values are provided in the correct format")
@@ -785,6 +827,8 @@ class TexturesUV(TexturesBase):
             maps=new_props["maps_padded"],
             faces_uvs=new_props["faces_uvs_padded"],
             verts_uvs=new_props["verts_uvs_padded"],
+            padding_mode=self.padding_mode,
+            align_corners=self.align_corners,
         )
 
         new_tex._num_faces_per_mesh = new_props["_num_faces_per_mesh"]
@@ -859,7 +903,12 @@ class TexturesUV(TexturesBase):
         texture_maps = torch.flip(texture_maps, [2])  # flip y axis of the texture map
         if texture_maps.device != pixel_uvs.device:
             texture_maps = texture_maps.to(pixel_uvs.device)
-        texels = F.grid_sample(texture_maps, pixel_uvs, align_corners=False)
+        texels = F.grid_sample(
+            texture_maps,
+            pixel_uvs,
+            align_corners=self.align_corners,
+            padding_mode=self.padding_mode,
+        )
         # texels now has shape (NK, C, H_out, W_out)
         texels = texels.reshape(N, K, C, H_out, W_out).permute(0, 3, 4, 1, 2)
         return texels
@@ -881,6 +930,17 @@ class TexturesUV(TexturesBase):
         if not tex_types_same:
             raise ValueError("All textures must be of type TexturesUV.")
 
+        padding_modes_same = all(
+            tex.padding_mode == self.padding_mode for tex in textures
+        )
+        if not padding_modes_same:
+            raise ValueError("All textures must have the same padding_mode.")
+        align_corners_same = all(
+            tex.align_corners == self.align_corners for tex in textures
+        )
+        if not align_corners_same:
+            raise ValueError("All textures must have the same align_corners value.")
+
         verts_uvs_list = []
         faces_uvs_list = []
         maps_list = []
@@ -896,7 +956,11 @@ class TexturesUV(TexturesBase):
             maps_list += tex_map_list
 
         new_tex = self.__class__(
-            maps=maps_list, verts_uvs=verts_uvs_list, faces_uvs=faces_uvs_list
+            maps=maps_list,
+            verts_uvs=verts_uvs_list,
+            faces_uvs=faces_uvs_list,
+            padding_mode=self.padding_mode,
+            align_corners=self.align_corners,
         )
         new_tex._num_faces_per_mesh = num_faces_per_mesh
         return new_tex

pytorch3d/structures/meshes.py

@@ -1505,9 +1505,13 @@ def join_meshes_as_batch(meshes: List[Meshes], include_textures: bool = True):
     Merge multiple Meshes objects, i.e. concatenate the meshes objects. They
     must all be on the same device. If include_textures is true, they must all
     be compatible, either all or none having textures, and all the Textures
-    objects having the same members. If  include_textures is False, textures are
+    objects being the same type. If include_textures is False, textures are
     ignored.
 
+    If the textures are TexturesAtlas then being the same type includes having
+    the same resolution. If they are TexturesUV then it includes having the same
+    align_corners and padding_mode.
+
     Args:
         meshes: list of meshes.
         include_textures: (bool) whether to try to join the textures.

tests/test_meshes.py

@@ -373,10 +373,10 @@ class TestMeshes(TestCaseMixin, unittest.TestCase):
 
             self.assertFalse(new_mesh.verts_packed().requires_grad)
             self.assertClose(new_mesh.verts_packed(), mesh.verts_packed())
-            self.assertTrue(new_mesh.verts_padded().requires_grad == False)
+            self.assertFalse(new_mesh.verts_padded().requires_grad)
             self.assertClose(new_mesh.verts_padded(), mesh.verts_padded())
             for v, newv in zip(mesh.verts_list(), new_mesh.verts_list()):
-                self.assertTrue(newv.requires_grad == False)
+                self.assertFalse(newv.requires_grad)
                 self.assertClose(newv, v)
 
     def test_laplacian_packed(self):

tests/test_pointclouds.py

@@ -411,11 +411,11 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
                 new_clouds = clouds.detach()
 
                 for cloud in new_clouds.points_list():
-                    self.assertTrue(cloud.requires_grad == False)
+                    self.assertFalse(cloud.requires_grad)
                 for normal in new_clouds.normals_list():
-                    self.assertTrue(normal.requires_grad == False)
+                    self.assertFalse(normal.requires_grad)
                 for feats in new_clouds.features_list():
-                    self.assertTrue(feats.requires_grad == False)
+                    self.assertFalse(feats.requires_grad)
 
                 for attrib in [
                     "points_packed",
@@ -425,9 +425,7 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
                     "normals_padded",
                     "features_padded",
                 ]:
-                    self.assertTrue(
+                    self.assertFalse(getattr(new_clouds, attrib)().requires_grad)
-                        getattr(new_clouds, attrib)().requires_grad == False
-                    )
 
                 self.assertCloudsEqual(clouds, new_clouds)
 

tests/test_texturing.py

@@ -443,19 +443,26 @@ class TestTexturesUV(TestCaseMixin, unittest.TestCase):
             dists=pix_to_face,
         )
 
-        tex = TexturesUV(maps=tex_map, faces_uvs=[face_uvs], verts_uvs=[vert_uvs])
+        for align_corners in [True, False]:
-        meshes = Meshes(verts=[dummy_verts], faces=[face_uvs], textures=tex)
+            tex = TexturesUV(
-        mesh_textures = meshes.textures
+                maps=tex_map,
-        texels = mesh_textures.sample_textures(fragments)
+                faces_uvs=[face_uvs],
+                verts_uvs=[vert_uvs],
+                align_corners=align_corners,
+            )
+            meshes = Meshes(verts=[dummy_verts], faces=[face_uvs], textures=tex)
+            mesh_textures = meshes.textures
+            texels = mesh_textures.sample_textures(fragments)
 
-        # Expected output
+            # Expected output
-        pixel_uvs = interpolated_uvs * 2.0 - 1.0
+            pixel_uvs = interpolated_uvs * 2.0 - 1.0
-        pixel_uvs = pixel_uvs.view(2, 1, 1, 2)
+            pixel_uvs = pixel_uvs.view(2, 1, 1, 2)
-        tex_map = torch.flip(tex_map, [1])
+            tex_map_ = torch.flip(tex_map, [1]).permute(0, 3, 1, 2)
-        tex_map = tex_map.permute(0, 3, 1, 2)
+            tex_map_ = torch.cat([tex_map_, tex_map_], dim=0)
-        tex_map = torch.cat([tex_map, tex_map], dim=0)
+            expected_out = F.grid_sample(
-        expected_out = F.grid_sample(tex_map, pixel_uvs, align_corners=False)
+                tex_map_, pixel_uvs, align_corners=align_corners, padding_mode="border"
-        self.assertTrue(torch.allclose(texels.squeeze(), expected_out.squeeze()))
+            )
+            self.assertTrue(torch.allclose(texels.squeeze(), expected_out.squeeze()))
 
     def test_textures_uv_init_fail(self):
         # Maps has wrong shape