update rasterizer transform method

Summary:
Update the transform method in the mesh rasterizer class to use the new `update_padded` method on the `Meshes` class to directly update the mesh vertices.

Also added a benchmark.

Reviewed By: gkioxari

Differential Revision: D21700352

fbshipit-source-id: c330e4040c681729eb2cc7bdfd92fb4a51a1a7d6
This commit is contained in:
Nikhila Ravi 2020-05-23 10:26:51 -07:00 committed by Facebook GitHub Bot
parent 1fb97f9c84
commit e3819a49df
2 changed files with 53 additions and 11 deletions

View File

@ -92,23 +92,20 @@ class MeshRasterizer(nn.Module):
msg = "Cameras must be specified either at initialization \
or in the forward pass of MeshRasterizer"
raise ValueError(msg)
verts_world = meshes_world.verts_padded()
verts_world_packed = meshes_world.verts_packed()
verts_screen = cameras.transform_points(verts_world, **kwargs)
# NOTE: Retaining view space z coordinate for now.
# TODO: Revisit whether or not to transform z coordinate to [-1, 1] or
# [0, 1] range.
view_transform = get_world_to_view_transform(R=cameras.R, T=cameras.T)
verts_view = view_transform.transform_points(verts_world)
verts_view = cameras.get_world_to_view_transform(**kwargs).transform_points(
verts_world
)
verts_screen = cameras.get_projection_transform(**kwargs).transform_points(
verts_view
)
verts_screen[..., 2] = verts_view[..., 2]
# Offset verts of input mesh to reuse cached padded/packed calculations.
pad_to_packed_idx = meshes_world.verts_padded_to_packed_idx()
verts_screen_packed = verts_screen.view(-1, 3)[pad_to_packed_idx, :]
verts_packed_offset = verts_screen_packed - verts_world_packed
return meshes_world.offset_verts(verts_packed_offset)
meshes_screen = meshes_world.update_padded(new_verts_padded=verts_screen)
return meshes_screen
def forward(self, meshes_world, **kwargs) -> Fragments:
"""

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@ -0,0 +1,45 @@
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
from itertools import product
import torch
from fvcore.common.benchmark import benchmark
from pytorch3d.renderer.cameras import OpenGLPerspectiveCameras, look_at_view_transform
from pytorch3d.renderer.mesh.rasterizer import MeshRasterizer
from pytorch3d.utils.ico_sphere import ico_sphere
def rasterize_transform_with_init(num_meshes: int, ico_level: int = 5, device="cuda"):
# Init meshes
sphere_meshes = ico_sphere(ico_level, device).extend(num_meshes)
# Init transform
R, T = look_at_view_transform(1.0, 0.0, 0.0)
cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
# Init rasterizer
rasterizer = MeshRasterizer(cameras=cameras)
torch.cuda.synchronize()
def raster_fn():
rasterizer.transform(sphere_meshes)
torch.cuda.synchronize()
return raster_fn
def bm_mesh_rasterizer_transform() -> None:
if torch.cuda.is_available():
kwargs_list = []
num_meshes = [1, 8]
ico_level = [0, 1, 3, 4]
test_cases = product(num_meshes, ico_level)
for case in test_cases:
n, ic = case
kwargs_list.append({"num_meshes": n, "ico_level": ic})
benchmark(
rasterize_transform_with_init,
"MESH_RASTERIZER",
kwargs_list,
warmup_iters=1,
)