Summary:
Improves so3 functions to make gradient computation stable:
- Instead of `torch.acos`, uses `acos_linear_extrapolation` which has finite gradients of reasonable magnitude for all inputs.
- Adds tests for the latter.
The tests of the finiteness of the gradient in `test_so3_exp_singularity`, `test_so3_exp_singularity`, `test_so3_cos_bound` would fail if the `so3` functions would call `torch.acos` instead of `acos_linear_extrapolation`.
Reviewed By: bottler
Differential Revision: D23326429
fbshipit-source-id: dc296abf2ae3ddfb3942c8146621491a9cb740ee
Summary:
Implements a backprop-safe version of `torch.acos` that linearly extrapolates the function outside bounds.
Below is a plot of the extrapolated acos for different bounds:
{F611339485}
Reviewed By: bottler, nikhilaravi
Differential Revision: D27945714
fbshipit-source-id: fa2e2385b56d6fe534338d5192447c4a3aec540c
Summary:
Fix small face issue for point_mesh distance computation.
The issue lies in the computation of `IsInsideTriangle` which is unstable and non-symmetrical when faces with small areas are given as input. This diff fixes the issue by returning `False` for `IsInsideTriangle` when small faces are given as input.
Reviewed By: bottler
Differential Revision: D29163052
fbshipit-source-id: be297002f26b5e6eded9394fde00553a37406bee
Summary:
As reported on github, `matrix_to_quaternion` was incorrect for rotations by 180˚. We resolved the sign of the component `i` based on the sign of `i*r`, assuming `r > 0`, which is untrue if `r == 0`.
This diff handles special cases and ensures we use the non-zero elements to copy the sign from.
Reviewed By: bottler
Differential Revision: D29149465
fbshipit-source-id: cd508cc31567fc37ea3463dd7e8c8e8d5d64a235
Summary: Increase code coverage of shader and re-include them in code coverage test
Reviewed By: nikhilaravi
Differential Revision: D29097503
fbshipit-source-id: 2791989ee1562cfa193f3addea0ce72d6840614a
Summary:
There was a bug when `z_clip_value` is not None but there are no faces which are actually visible in the image due to culling. In `rasterize_meshes.py` a function `convert_clipped_rasterization_to_original_faces` is called to convert the clipped face indices etc back to the unclipped versions, but the case where there is no clipping was not handled correctly.
Fixes Github Issue #632
Reviewed By: bottler
Differential Revision: D29116150
fbshipit-source-id: fae82a0b4848c84b3ed7c7b04ef5c9848352cf5c
Summary: Fixed multiple issues with shape broadcasting in lighting, shading and blending and updated the tests.
Reviewed By: bottler
Differential Revision: D28997941
fbshipit-source-id: d3ef93f979344076b1d9098a86178b4da63844c8
Summary: Increase code coverage of subdivide_meshes and re-include it in code coverage test
Reviewed By: bottler
Differential Revision: D29097476
fbshipit-source-id: 3403ae38a90c4b53f24188eed11faae202a235b5
Summary:
When `z_clip_value = None` and faces are outside the view frustum the shape of one of the tensors in `clip.py` is incorrect.
`faces_num_clipped_verts` should be (F,) but it was (F,3). Added a new test to ensure this case is handled.
Reviewed By: bottler
Differential Revision: D29051282
fbshipit-source-id: 5f4172ba4d4a75d928404dde9abf48aef18c68bd
Summary:
When textures are set on `Meshes` we need to check if the dimensions actually match that of the verts/faces in the mesh. There was a github issue where someone tried to set the attribute after construction of the `Meshes` object and ran into an error when trying to sample textures.
The desired usage is to initialize the class with the textures (not set an attribute afterwards) but in any case we need to check the dimensions match before sampling textures.
Reviewed By: bottler
Differential Revision: D29020249
fbshipit-source-id: 9fb8a5368b83c9ec53652df92b96fc8b2613f591
Summary: Omit specific code from code coverage computation. This is done to make code coverage test pass again. Test coverage for shader.py and subdivide_meshes.py will be increased in later diffs to re-include them.
Reviewed By: bottler
Differential Revision: D29061105
fbshipit-source-id: addac35a216c96de9f559e2d8fe42496adc85791
Summary:
There are a couple times in the code where Device, make_device and get_device are imported by:
`from ..common.types import Device, get_device, make_device`
which will not work without this init file, at least on python 3.8.
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/706
Reviewed By: bottler
Differential Revision: D29031835
Pulled By: patricklabatut
fbshipit-source-id: 15743e3c8cffdfcca51b6d2f377b923da9cbe6f9
Summary: Make Transform3d.to() not ignore a different dtype when device is the same and no copy is requested. Fix other methods where dtype is ignored.
Reviewed By: nikhilaravi
Differential Revision: D28981171
fbshipit-source-id: 4528e6092f4a693aecbe8131ede985fca84e84cf
Summary: Fix type annotations for device type
Reviewed By: nikhilaravi
Differential Revision: D28971179
fbshipit-source-id: 410b673c76dfd65ac51b2d144f17ed86a04a3058
Summary:
Tidy uses of `torch.device` in `Volumes`:
- Allow `str` or `torch.device` in `Volumes.to()` method
- Consistently use `torch.device` for internal type
- Fix comparison of devices
Reviewed By: nikhilaravi
Differential Revision: D28970876
fbshipit-source-id: c640cc22ced684a54cc450ac38a0f4b3435d47be
Summary:
Tidy uses of `torch.device` in `Pointclouds`:
- Allow `str` or `torch.device` in `Pointclouds.to()` method
- Consistently use `torch.device` for internal type
- Fix comparison of devices
Reviewed By: nikhilaravi
Differential Revision: D28970221
fbshipit-source-id: 3ca7104d4c0d9b20b0cff4f00e3ce931c5f1528a
Summary:
Tidy uses of `torch.device` in `Meshes`:
- Allow `str` or `torch.device` in `Meshes.to()` method
- Consistently use `torch.device` for internal type
- Fix comparison of devices
Reviewed By: nikhilaravi
Differential Revision: D28969461
fbshipit-source-id: 16d3c1f5458954bb11fdf0efea88542e94dccd7a
Summary:
Tidy uses of `torch.device` in `Transforms3d`:
- Allow `str` or `torch.device` in user-facing methods
- Consistently use `torch.device` for internal types
- Fix comparison of devices
Reviewed By: nikhilaravi
Differential Revision: D28929486
fbshipit-source-id: bd1d6cc7ede3d8fd549fd3224a9b07eec53f8164
Summary: Introduce device type and utility functions in common types module
Reviewed By: nikhilaravi
Differential Revision: D28970930
fbshipit-source-id: 191ec07390ed66a958c23eb2b43229312492e0b7
Summary: Improve type annotations for volumes and remove a few pyre fixmes
Reviewed By: nikhilaravi
Differential Revision: D28943371
fbshipit-source-id: ca2b7a50d72a392910e65cee5e564f34523414d2
Summary: Updated the alpha channel in the `hard_rgb_blend` function to return the mask of the pixels which have overlapping mesh faces.
Reviewed By: bottler
Differential Revision: D29001604
fbshipit-source-id: 22a2173d769f2d3ad34892d68ceb628f073bca22
Summary: Improve type annotations for textures and remove a few pyre fixmes
Reviewed By: nikhilaravi
Differential Revision: D28942630
fbshipit-source-id: 422f2bdf07b435869461ca103d71473aa0c2b814
Summary:
All classes implicitly inherit from `object` since Python 3, so remove unnecessary explicit inheritance.
From the [official documentation](https://docs.python.org/3/library/functions.html#object):
> `object` is a base for all classes.
Reviewed By: nikhilaravi
Differential Revision: D28942595
fbshipit-source-id: 466c0d19d8a93a6263e7ad734c3e87160cfa6066
Summary:
Caught a silly typo in the docs, figured I'd send in a PR. Thanks for sharing your work!
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/693
Reviewed By: bottler
Differential Revision: D28837851
Pulled By: patricklabatut
fbshipit-source-id: c326189007c3537429a8aa2a3b2850d60b74b16d
Summary: Experimental data loader for taking the default scene from a GLB file and converting it to a single mesh in PyTorch3D.
Reviewed By: nikhilaravi
Differential Revision: D25900167
fbshipit-source-id: bff22ac00298b83a0bd071ae5c8923561e1d81d7
Summary:
Specific object to represent light which is 100% everywhere. Sometimes lighting is irrelevant, for example when viewing a mesh which has lighting already baked in.
This is not primarily aiming for a performance win but I think the test which has changed might be a bit faster.
Reviewed By: theschnitz
Differential Revision: D26405151
fbshipit-source-id: 82eae55de0bee918548a3eaf031b002cb95e726c
Summary: Function to relatively rotate a camera position. Also document how to relatively translate a camera position.
Reviewed By: theschnitz
Differential Revision: D25900166
fbshipit-source-id: 2ddaf06ee7c5e2a2e973c04d7dee6ccb61c6ff84
Summary:
If you join several meshes which have TexturesUV textures using join_meshes_as_scene then we amalgamate all the texture images in to a single one. This now checks if some of the images are equal (i.e. the tensors are the same tensor, in the `is` sense; they have the same `id` in Python) and only uses one copy if they are.
I have an example of a massive scene made of several textured meshes with some shared, where this makes the difference between fitting the data on the GPU and not.
Reviewed By: theschnitz
Differential Revision: D25982364
fbshipit-source-id: a8228805f38475c796302e27328a340d9b56c8ef
Summary: Currently the Rotate transform does not consider the R's device at all, resulting in errors if you're expecting it to be on cuda but it gets the default casting to cpu. This updates the transform to respect R's device.
Reviewed By: nikhilaravi
Differential Revision: D27828118
fbshipit-source-id: ddd99f73eadbd990688eb22f3d1ffbacbe168c81
Summary: 3 extend functions in textures.py updated to call `self.__class__` rather than create a new object of its type. As mentioned in https://github.com/facebookresearch/pytorch3d/issues/618 .
Reviewed By: bottler
Differential Revision: D28281218
fbshipit-source-id: b9c99ab87e46a3f28c37efa1ee2c2dceb560b491
Summary: Add ability to load normals when they are present in a PLY file.
Reviewed By: nikhilaravi
Differential Revision: D26458971
fbshipit-source-id: 658270b611f7624eab4f5f62ff438038e1d25723
Summary: Save existing vertex normals when a mesh is saved to PLY, and existing normals when a point cloud is saved to PLY.
Reviewed By: theschnitz
Differential Revision: D27765257
fbshipit-source-id: fa0aae4c0f100f7e5eb742f48fc3dfc87435deba
Summary: Add ability to ask a Meshes if it already has normals. If it does, then requesting normals will not trigger a calculation. MeshesFormatInterpreters will therefore be able to decide whether to save normals.
Reviewed By: theschnitz, nikhilaravi
Differential Revision: D27765261
fbshipit-source-id: 7c87dbf999d5616d20f5eb2c01039ee5ff65a830
Summary: Add ability to set the vertex normals when creating a Meshes, so that the pluggable loaders can return them from a file.
Reviewed By: nikhilaravi
Differential Revision: D27765258
fbshipit-source-id: b5ddaa00de3707f636f94d9f74d1da12ecce0608
Summary: If offset_verts_ is used to move meshes with a single vector, the normals won't change so don't need to recalculate. I am planning to allow user-specified vertex normals. This change means that user-specified vertex normals won't get overwritten when they don't need to be.
Reviewed By: nikhilaravi
Differential Revision: D27765256
fbshipit-source-id: f6e4d308ac9ac023030325cb75a18d39b966cf88
Summary:
There is no need to recalculate normals when scaling a mesh by a constant. We omit doing this for vertex normals. This will make things less confusing when we allow user-specified vertex normals.
Face normals also don't need recalculating, but they are calculated at the same time as face areas which do, so it is easiest not to change their behavior here. That is convenient because we are not immediately planning to allow user-specified face normals.
Reviewed By: nikhilaravi
Differential Revision: D27793476
fbshipit-source-id: 827f1be4bc78bf0391ce3959cce48c4f3ee326fe
Summary: When a PLY file contains colors in byte format, these are now scaled from 0..255 to [0,1], as they should be
Reviewed By: gkioxari
Differential Revision: D27765254
fbshipit-source-id: 526b5f5149d5e8cbffd7412b411be52c935fa4ad
Summary:
Include TexturesVertex colors when loading and saving Meshes to PLY files.
A couple of other improvements to the internals of ply_io, including using `None` instead of empty tensors for some missing data.
Reviewed By: gkioxari
Differential Revision: D27765260
fbshipit-source-id: b9857dc777c244b9d7d6643b608596d31435ecda
Summary: We can check the bounds without using extra memory. This produces a small speedup in NeRF training (like 0.5%).
Reviewed By: nikhilaravi
Differential Revision: D27859691
fbshipit-source-id: d566420c465f51231f4a57438084c98b73253046
Summary:
When a list of Meshes is `join_batched()`, the `num_verts_per_mesh` in the list would be unexpectedly modified.
Also some cleanup around `_num_verts_per_mesh`.
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/623
Test Plan: A modification to an existing test checks this.
Reviewed By: nikhilaravi
Differential Revision: D27682104
Pulled By: bottler
fbshipit-source-id: 9d00913dfb4869bd6c7d3f5cc9156b7b6f1aecc9
