Summary: Since coarse rasterization on cuda can overflow bins, we detect when this happens for memory safety. See https://github.com/facebookresearch/pytorch3d/issues/348 . Also try to print a warning.
Reviewed By: patricklabatut
Differential Revision: D33065604
fbshipit-source-id: 99b3c576d01b78e6d77776cf1a3e95984506c93a
Summary: Fix https://github.com/facebookresearch/pytorch3d/issues/1015. Stop relying on the fact that the dtype returned by np.random.choice (int64 on Linux, int32 on Windows) matches the dtype used by pytorch for indexing (int64 everywhere).
Reviewed By: patricklabatut
Differential Revision: D33428680
fbshipit-source-id: 716c857502cd54c563cb256f0eaca7dccd535c10
Summary: Update all FB license strings to the new format.
Reviewed By: patricklabatut
Differential Revision: D33403538
fbshipit-source-id: 97a4596c5c888f3c54f44456dc07e718a387a02c
Summary:
Moved `HarmonicEmbedding` function in core PyTorch3D.
In the next diff will update the NeRF project.
Reviewed By: bottler
Differential Revision: D32833808
fbshipit-source-id: 0a12ccd1627c0ce024463c796544c91eb8d4d122
Summary: Removed `select_cameras.py` from implicitron and updated all callsites to directly index the cameras.
Reviewed By: bottler
Differential Revision: D33187605
fbshipit-source-id: aaf5b36aef9d72db0c7e89dec519f23646f6aa05
Summary:
Added a custom `__getitem__` method to `CamerasBase` which returns an instance of the appropriate camera instead of the `TensorAccessor` class.
Long term we should deprecate the `TensorAccessor` and the `__getitem__` method on `TensorProperties`
FB: In the next diff I will update the uses of `select_cameras` in implicitron.
Reviewed By: bottler
Differential Revision: D33185885
fbshipit-source-id: c31995d0eb126981e91ba61a6151d5404b263f67
Summary: New sampling mode option in TexturesUV mush match when collating meshes.
Reviewed By: patricklabatut
Differential Revision: D33235901
fbshipit-source-id: f457473d90bf022e65fe122ef45bf5efad134345
Summary: Function to join a list of pointclouds as a batch similar to the corresponding function for Meshes.
Reviewed By: bottler
Differential Revision: D33145906
fbshipit-source-id: 160639ebb5065e4fae1a1aa43117172719f3871b
Summary: Fix some comments to match the recent change to transform_points_screen.
Reviewed By: patricklabatut
Differential Revision: D33243697
fbshipit-source-id: dc8d182667a9413bca2c2e3657f97b2f7a47c795
Summary:
A small numerical fix for IoU for 3D boxes, fixes GH #992
* Adds a check for boxes with zero side areas (invalid boxes)
* Fixes numerical issue when two boxes have coplanar sides
Reviewed By: nikhilaravi
Differential Revision: D33195691
fbshipit-source-id: 8a34b4d1f1e5ec2edb6d54143930da44bdde0906
Summary: Restore compatibility with old C++ after recent torch change. https://github.com/facebookresearch/pytorch3d/issues/995
Reviewed By: patricklabatut
Differential Revision: D33093174
fbshipit-source-id: 841202fb875d601db265e93dcf9cfa4249d02b25
Summary:
Pull Request resolved: https://github.com/pytorch/pytorch/pull/69041
`TH_CONCAT_{N}` is still being used by THP so I've moved that into
it's own header but all the compiled code is gone.
Test Plan: Imported from OSS
Reviewed By: anjali411
Differential Revision: D32872477
Pulled By: ngimel
fbshipit-source-id: 06c82d8f96dbcee0715be407c61dfc7d7e8be47a
Summary:
All the renderers in PyTorch3D (pointclouds including pulsar, meshes, raysampling) use align_corners=False style. NDC space goes between the edges of the outer pixels. For a non square image with W>H, the vertical NDC space goes from -1 to 1 and the horizontal from -W/H to W/H.
However it was recently pointed out that functionality which deals with screen space inside the camera classes is inconsistent with this. It unintentionally uses align_corners=True. This fixes that.
This would change behaviour of the following:
- If you create a camera in screen coordinates, i.e. setting in_ndc=False, then anything you do with the camera which touches NDC space may be affected, including trying to use renderers. The transform_points_screen function will not be affected...
- If you call the function “transform_points_screen” on a camera defined in NDC space results will be different. I have illustrated in the diff how to get the old results from the new results but this probably isn’t the right long-term solution..
Reviewed By: gkioxari
Differential Revision: D32536305
fbshipit-source-id: 377325a9137282971dcb7ca11a6cba3fc700c9ce
Summary: Give unproject_points an argument letting it bypass screen space. use it to let the raysampler work for cameras defined in screen space.
Reviewed By: gkioxari
Differential Revision: D32596600
fbshipit-source-id: 2fe585dcd138cdbc65dd1c70e1957fd894512d3d
Summary: As subj. Tests corrected accordingly. Also changed the test to provide a bit better diagnostics.
Reviewed By: bottler
Differential Revision: D32879498
fbshipit-source-id: 0a852e4a13dcb4ca3e54d71c6b263c5d2eeaf4eb
Summary:
This diff adds the `sample_mode` parameter to `TexturesUV` to control the interpolation mode during texture sampling. It simply gets forwarded to `torch.nn.funcitonal.grid_sample`.
This option was requested in this [GitHub issue](https://github.com/facebookresearch/pytorch3d/issues/805).
Reviewed By: patricklabatut
Differential Revision: D32665185
fbshipit-source-id: ac0bc66a018bd4cb20d75fec2d7c11145dd20199
Summary:
For a non-square image, the image_size in PointsRasterizationSettings is now (H,W) not (W,H). A part of pulsar's validation code wasn't updated for this.
The following now works.
```
H, W = 249, 125
image_size = (H, W)
camera = PerspectiveCameras(focal_length=1.0, image_size=(image_size,), in_ndc=True)
points_rasterizer = PointsRasterizer(cameras=camera, raster_settings=PointsRasterizationSettings(image_size=image_size, radius=0.0000001))
pulsar_renderer = PulsarPointsRenderer(rasterizer=points_rasterizer)
pulsar_renderer(Pointclouds(...), gamma = (0.1,), znear = (0.1,), zfar = (70,))
```
Reviewed By: nikhilaravi, classner
Differential Revision: D32316322
fbshipit-source-id: 8405a49acecb1c95d37ee368c3055868b797208a
Summary:
- Old NDC convention had xy coords in [-1,1]x[-1,1]
- New NDC convention has xy coords in [-1, 1]x[-u, u] or [-u, u]x[-1, 1]
where u > 1 is the aspect ratio of the image.
This PR fixes the NDC raysampler to use the new convention.
Partial fix for https://github.com/facebookresearch/pytorch3d/issues/868
Pull Request resolved: https://github.com/fairinternal/pytorch3d/pull/29
Reviewed By: davnov134
Differential Revision: D31926148
Pulled By: bottler
fbshipit-source-id: c6c42c60d1473b04e60ceb49c8c10951ddf03c74
Summary:
Make sure the functions from `rotation_conversion` are jittable, and add some type hints.
Add tests to verify this is the case.
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/898
Reviewed By: patricklabatut
Differential Revision: D31926103
Pulled By: bottler
fbshipit-source-id: bff6013c5ca2d452e37e631bd902f0674d5ca091
Summary:
https://github.com/facebookresearch/pytorch3d/issues/561https://github.com/facebookresearch/pytorch3d/issues/790
Divide by zero fix (NaN fix). When perspective_correct=True, BarycentricPerspectiveCorrectionForward and BarycentricPerspectiveCorrectionBackward in ../csrc/utils/geometry_utils.cuh are called. The denominator (denom) values should not be allowed to go to zero. I'm able to resolve this issue locally with this PR and submit it for the team's review.
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/891
Reviewed By: patricklabatut
Differential Revision: D31829695
Pulled By: bottler
fbshipit-source-id: a3517b8362f6e60d48c35731258d8ce261b1d912
Summary: Keep using at:: instead of torch:: so we don't need torch/extension.h and can keep other compilers happy.
Reviewed By: patricklabatut
Differential Revision: D31688436
fbshipit-source-id: 1825503da0104acaf1558d17300c02ef663bf538
Summary: Few tweaks to make CUDA build on windows happier, as remarked in #876.
Reviewed By: patricklabatut
Differential Revision: D31688188
fbshipit-source-id: 20816d6215f2e3ec898f81ae4221b1c2ff24b64f
Summary: Fix#873, that grid_sizes defaults to the wrong dtype in points2volumes code, and mask doesn't have a proper default.
Reviewed By: nikhilaravi
Differential Revision: D31503545
fbshipit-source-id: fa32a1a6074fc7ac7bdb362edfb5e5839866a472
Summary: Make eps=1e-4 by default for coplanar check and also enable it to be set by the user in call to `box3d_overlap`.
Reviewed By: gkioxari
Differential Revision: D31596836
fbshipit-source-id: b57fe603fd136cfa58fddf836922706d44fe894e
Summary: PyTorch 1.6.0 came out on 28 Jul 2020. Stop builds for 1.5.0 and 1.5.1. Also update the news section of the README for recent releases.
Reviewed By: nikhilaravi
Differential Revision: D31442830
fbshipit-source-id: 20bdd8a07090776d0461240e71c6536d874615f6
Summary: The epsilon value is important for determining whether vertices are inside/outside a plane.
Reviewed By: gkioxari
Differential Revision: D31485247
fbshipit-source-id: 5517575de7c02f1afa277d00e0190a81f44f5761
Summary:
For non square image, the NDC space in pytorch3d is not square [-1, 1]. Instead, it is [-1, 1] for the smallest side, and [-u, u] for the largest side, where u > 1. This behavior is followed by the pytorch3d renderer.
See the function `get_ndc_to_screen_transform` for a example.
Without this fix, the rendering result is not correct using the converted pytorch3d-camera from a opencv-camera on non square images.
This fix also helps the `transform_points_screen` function delivers consistent results with opencv projection for the converted pytorch3d-camera.
Reviewed By: classner
Differential Revision: D31366775
fbshipit-source-id: 8858ae7b5cf5c0a4af5a2af40a1358b2fe4cf74b
Summary: New function to randomly subsample Pointclouds to a maximum size.
Reviewed By: nikhilaravi
Differential Revision: D30936533
fbshipit-source-id: 789eb5004b6a233034ec1c500f20f2d507a303ff
Summary: Added CUDA implementation to match the new, still unused, C++ function for the core of points2vols.
Reviewed By: nikhilaravi
Differential Revision: D29548608
fbshipit-source-id: 16ebb61787fcb4c70461f9215a86ad5f97aecb4e
Summary: Single C++ function for the core of points2vols, not used anywhere yet. Added ability to control align_corners and the weight of each point, which may be useful later.
Reviewed By: nikhilaravi
Differential Revision: D29548607
fbshipit-source-id: a5cda7ec2c14836624e7dfe744c4bbb3f3d3dfe2
