a formula for bin size for images over 64x64 (#90)

Summary:
Signed-off-by: Michele Sanna <sanna@arrival.com>

fixes the bin_size calculation with a formula for any image_size > 64. Matches the values chosen so far.

simple test:

```
import numpy as np
import matplotlib.pyplot as plt

image_size = np.arange(64, 2048)
bin_size = np.where(image_size <= 64, 8, (2 ** np.maximum(np.ceil(np.log2(image_size)) - 4, 4)).astype(int))

print(image_size)
print(bin_size)

for ims, bins in zip(image_size, bin_size):
    if ims <= 64:
        assert bins == 8
    elif ims <= 256:
        assert bins == 16
    elif ims <= 512:
        assert bins == 32
    elif ims <= 1024:
        assert bins == 64
    elif ims <= 2048:
        assert bins == 128

    assert (ims + bins - 1) // bins < 22

plt.plot(image_size, bin_size)
plt.grid()
plt.show()
```

![img](https://user-images.githubusercontent.com/54891577/75464693-795bcf00-597f-11ea-9061-26440211691c.png)
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/90

Reviewed By: jcjohnson

Differential Revision: D21160372

Pulled By: nikhilaravi

fbshipit-source-id: 660cf5832f4ca5be243c435a6bed969596fc0188

pytorch3d/csrc/rasterize_meshes/rasterize_meshes.cu

@@ -696,7 +696,7 @@ at::Tensor RasterizeMeshesCoarseCuda(
   const int num_bins = 1 + (image_size - 1) / bin_size; // Divide round up.
   const int M = max_faces_per_bin;
 
-  if (num_bins >= 22) {
+  if (num_bins >= kMaxFacesPerBin) {
     std::stringstream ss;
     ss << "Got " << num_bins << "; that's too many!";
     AT_ERROR(ss.str());

pytorch3d/csrc/rasterize_points/rasterization_utils.cuh

@@ -17,6 +17,8 @@ __device__ inline float PixToNdc(int i, int S) {
 // TODO: is 8 enough? Would increasing have performance considerations?
 const int32_t kMaxPointsPerPixel = 150;
 
+const int32_t kMaxFacesPerBin = 22;
+
 template <typename T>
 __device__ inline void BubbleSort(T* arr, int n) {
   // Bubble sort. We only use it for tiny thread-local arrays (n < 8); in this

pytorch3d/renderer/mesh/rasterize_meshes.py

@@ -11,6 +11,10 @@ from pytorch3d import _C
 # TODO make the epsilon user configurable
 kEpsilon = 1e-8
 
+# Maxinum number of faces per bins for
+# coarse-to-fine rasterization
+kMaxFacesPerBin = 22
+
 
 def rasterize_meshes(
     meshes,
@@ -107,12 +111,23 @@ def rasterize_meshes(
             # TODO better heuristics for bin size.
             if image_size <= 64:
                 bin_size = 8
-            elif image_size <= 256:
-                bin_size = 16
-            elif image_size <= 512:
-                bin_size = 32
-            elif image_size <= 1024:
-                bin_size = 64
+            else:
+                # Heuristic based formula maps image_size -> bin_size as follows:
+                # image_size < 64 -> 8
+                # 16 < image_size < 256 -> 16
+                # 256 < image_size < 512 -> 32
+                # 512 < image_size < 1024 -> 64
+                # 1024 < image_size < 2048 -> 128
+                bin_size = int(2 ** max(np.ceil(np.log2(image_size)) - 4, 4))
+
+    if bin_size != 0:
+        # There is a limit on the number of faces per bin in the cuda kernel.
+        faces_per_bin = 1 + (image_size - 1) // bin_size
+        if faces_per_bin >= kMaxFacesPerBin:
+            raise ValueError(
+                "bin_size too small, number of faces per bin must be less than %d; got %d"
+                % (kMaxFacesPerBin, faces_per_bin)
+            )
 
     if max_faces_per_bin is None:
         max_faces_per_bin = int(max(10000, verts_packed.shape[0] / 5))

pytorch3d/renderer/points/rasterize_points.py

@@ -7,6 +7,11 @@ from pytorch3d import _C
 from pytorch3d.renderer.mesh.rasterize_meshes import pix_to_ndc
 
 
+# Maxinum number of faces per bins for
+# coarse-to-fine rasterization
+kMaxPointsPerBin = 22
+
+
 # TODO(jcjohns): Support non-square images
 def rasterize_points(
     pointclouds,
@@ -82,6 +87,15 @@ def rasterize_points(
             elif image_size <= 1024:
                 bin_size = 64
 
+    if bin_size != 0:
+        # There is a limit on the number of points per bin in the cuda kernel.
+        points_per_bin = 1 + (image_size - 1) // bin_size
+        if points_per_bin >= kMaxPointsPerBin:
+            raise ValueError(
+                "bin_size too small, number of points per bin must be less than %d; got %d"
+                % (kMaxPointsPerBin, points_per_bin)
+            )
+
     if max_points_per_bin is None:
         max_points_per_bin = int(max(10000, points_packed.shape[0] / 5))
 

tests/test_rasterize_meshes.py

@@ -382,6 +382,13 @@ class TestRasterizeMeshes(TestCaseMixin, unittest.TestCase):
         args = ()
         self._compare_impls(fn1, fn2, args, args, verts1, verts2, compare_grads=True)
 
+    def test_bin_size_error(self):
+        meshes = ico_sphere(2)
+        image_size = 1024
+        bin_size = 16
+        with self.assertRaisesRegex(ValueError, "bin_size too small"):
+            rasterize_meshes(meshes, image_size, 0.0, 2, bin_size)
+
     def _test_back_face_culling(self, rasterize_meshes_fn, device, bin_size):
         # Square based pyramid mesh.
         # fmt: off

tests/test_rasterize_points.py

@@ -212,6 +212,13 @@ class TestRasterizePoints(TestCaseMixin, unittest.TestCase):
         if compare_grads:
             self.assertClose(grad_points1, grad_points2, atol=2e-6)
 
+    def test_bin_size_error(self):
+        points = Pointclouds(points=torch.rand(5, 100, 3))
+        image_size = 1024
+        bin_size = 16
+        with self.assertRaisesRegex(ValueError, "bin_size too small"):
+            rasterize_points(points, image_size, 0.0, 2, bin_size=bin_size)
+
     def _test_behind_camera(self, rasterize_points_fn, device, bin_size=None):
         # Test case where all points are behind the camera -- nothing should
         # get rasterized