Summary:
In the original implementation, I had considered PLY properties where there are mixed types of elements in a property to be rare and basically unimportant, so the implementation is very naive.
If we want to support pointcloud PLY files, we need to handle at least the subcase where there are no lists efficiently because this seems to be very common there.
Reviewed By: nikhilaravi, gkioxari
Differential Revision: D22573315
fbshipit-source-id: db6f29446d4e555a2e2b37d38c8e4450d061465b
Summary: We already have code for obj and ply formats. Here we actually make it available in `IO.load_mesh` and `IO.save_mesh`.
Reviewed By: theschnitz, nikhilaravi
Differential Revision: D25400650
fbshipit-source-id: f26d6d7fc46c48634a948eea4d255afad13b807b
Summary: Implemented a data structure for volumes.
Reviewed By: gkioxari
Differential Revision: D20342920
fbshipit-source-id: ccc23eaa183ed8a4e9cd7674b4dcf31e8a65c3c6
Summary: Extends `list_to_padded`/`padded_to_list` to work for tensors with an arbitrary number of input dimensions.
Reviewed By: nikhilaravi, gkioxari
Differential Revision: D23813969
fbshipit-source-id: 52c212a2ecdb3c4dfb6ac47217715e07998f37f1
Summary:
Make no internal functions inside pytorch3d/io interpret str paths except using a PathManager from iopath which they have been given. This means we no longer use any global PathManager object and we no longer use fvcore's deprecated file_io.
To preserve the APIs, various top level functions create their own default-initialized PathManager object if they are not provided one.
Reviewed By: theschnitz
Differential Revision: D25372969
fbshipit-source-id: c176ee31439645fa54a157d6f1aef18b09501569
Summary: This fixes a corner case for multi-radius handling for the pulsar backend. The additional dimensionality check ensures that the batched parsing for radiuses is only performed when appropriate.
Reviewed By: bottler
Differential Revision: D25387708
fbshipit-source-id: c486dcf327f812265b7ca8ca5ef5c6a31e6d4549
Summary:
Defines a function to run marching cubes algorithm on a single or batch of 3D scalar fields. Returns a mesh's faces and vertices.
UPDATES (12/18)
- Input data is now specified as a (B, D, H, W) tensor as opposed to a (B, W, H, D) tensor. This will now be compatible with the Volumes datastructure.
- Add an option to return output vertices in local coordinates instead of world coordinates.
Also added a small fix to remove the dype for device in Transforms3D - if passing in a torch.device instead of str it causes a pyre error.
Reviewed By: jcjohnson
Differential Revision: D24599019
fbshipit-source-id: 90554a200319fed8736a12371cc349e7108aacd0
Summary: Fixes the index out of bound errors for texture sampling from a texture atlas: when barycentric coordinates are 1.0, the integer index into the (R, R) per face texture map is R (max can only be R-1).
Reviewed By: gkioxari
Differential Revision: D25543803
fbshipit-source-id: 82d0935b981352b49c1d95d5a17f9cc88bad0a82
Summary:
Similar to non square image rasterization for meshes, apply the same updates to the pointcloud rasterizer.
Main API Change:
- PointRasterizationSettings now accepts a tuple/list of (H, W) for the image size.
Reviewed By: jcjohnson
Differential Revision: D25465206
fbshipit-source-id: 7370d83c431af1b972158cecae19d82364623380
Summary: Add `return self` to the `to` function for the renderer classes.
Reviewed By: bottler
Differential Revision: D25534487
fbshipit-source-id: e8dbd35524f0bd40e835439e93184b5a1f1532ca
Summary:
As for now, epsilon value is ignored, since `kwargs` are passed to constructor only
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/418
Reviewed By: gkioxari
Differential Revision: D24730500
Pulled By: nikhilaravi
fbshipit-source-id: 7cce820dbe14f8c74d3df4f18c45d50e228c6a45
Summary:
There are a couple of options for supporting non square images:
1) NDC stays at [-1, 1] in both directions with the distance calculations all modified by (W/H). There are a lot of distance based calculations (e.g. triangle areas for barycentric coordinates etc) so this requires changes in many places.
2) NDC is scaled by (W/H) so the smallest side has [-1, 1]. In this case none of the distance calculations need to be updated and only the pixel to NDC calculation needs to be modified.
I decided to go with option 2 after trying option 1!
API Changes:
- Image size can now be specified optionally as a tuple
TODO:
- add a benchmark test for the non square case.
Reviewed By: jcjohnson
Differential Revision: D24404975
fbshipit-source-id: 545efb67c822d748ec35999b35762bce58db2cf4
Summary: Taubin Smoothing for filtering meshes and making them smoother. Taubin smoothing is an iterative approach.
Reviewed By: nikhilaravi
Differential Revision: D24751149
fbshipit-source-id: fb779e955f1a1f6750e704f1b4c6dfa37aebac1a
Summary: If a pointcloud had less than pointcloud_max_points, the colors would not render. This diff fixes that.
Reviewed By: bottler
Differential Revision: D25099044
fbshipit-source-id: 47c3ddcdb4e06284b0a7966ffca1b973f394921f
Summary: Previously, grids where the columns don't divide the number of plots evenly would error. Now, there'll just be a sparse last row.
Reviewed By: bottler
Differential Revision: D25069236
fbshipit-source-id: 9d2fd62f3d39bfebc07ce0a41718621fa69d6057
Summary: This fixed#442 by declaring two math functions to be device-only.
Reviewed By: bottler
Differential Revision: D24896992
fbshipit-source-id: a15918d06d2a3e6ee5cf250fec7af5f2f50a6164
Summary:
Changes to CI and some minor fixes now that pulsar is part of pytorch3d. Most significantly, add CUB to CI builds.
Make CUB_HOME override the CUB already in cudatoolkit (important for cuda11.0 which uses cub 1.9.9 which pulsar doesn't work well with.
Make imageio available for testing.
Lint fixes.
Fix some test verbosity.
Avoid use of atomicAdd_block on older GPUs.
Reviewed By: nikhilaravi, classner
Differential Revision: D24773716
fbshipit-source-id: 2428356bb2e62735f2bc0c15cbe4cff35b1b24b8
Summary:
Removes the now-unnecessary kernels from point mesh edge file
Migrates all point mesh functionality into one file.
Reviewed By: gkioxari
Differential Revision: D24550086
fbshipit-source-id: f924996cd38a7c2c1cf189d8a01611de4506cfa3
Summary: This diff creates the generic MeshBackwardKernel which can handle distance calculations between point, edge and faces in either direction. Replaces only point_mesh_face code for now.
Reviewed By: gkioxari
Differential Revision: D24549374
fbshipit-source-id: 2853c1da1c2a6b6de8d0e40007ba0735b8959044
Summary: This diff creates the generic MeshForwardKernel which can handle distance calculations between point, edge and faces in either direction. Replaces only point_mesh_face code for now.
Reviewed By: gkioxari
Differential Revision: D24543316
fbshipit-source-id: 302707d7cec2d77a899738adf40481035c240da8
Summary: Added missing include for cstdint for Windows and removed problematic inline assembly.
Reviewed By: bottler
Differential Revision: D24838053
fbshipit-source-id: 95496be841c2c22a82068073d4740e98ee8a02ac
Summary: Users want to be able to obtain the depth from the renderer. Current work-around requires running the rasterizer and extra time. This change creates a new renderer class that also returns the fragments from the rasterizer.
Reviewed By: nikhilaravi
Differential Revision: D24432381
fbshipit-source-id: 6552e8a6bfee646791afb34bdb7452fbc4094aed
Summary: Move to a local import for calculating pointcloud normals, similar to _compute_face_areas_normals on Meshes.
Reviewed By: theschnitz
Differential Revision: D24695260
fbshipit-source-id: 9e1eb5d15017975b8c4f4175690cc3654f38d9a4
Summary: This diff updates the documentation and tutorials with information about the new pulsar backend. For more information about the pulsar backend, see the release notes and the paper (https://arxiv.org/abs/2004.07484). For information on how to use the backend, see the point cloud rendering notebook and the examples in the folder docs/examples.
Reviewed By: nikhilaravi
Differential Revision: D24498129
fbshipit-source-id: e312b0169a72b13590df6e4db36bfe6190d742f9
Summary:
This diff builds on top of the `pulsar integration` diff to provide a unified interface for the existing PyTorch3D point renderer and Pulsar. For more information about the pulsar backend, see the release notes and the paper (https://arxiv.org/abs/2004.07484). For information on how to use the backend, see the point cloud rendering notebook and the examples in the folder docs/examples.
The unified interfaces are completely consistent. Switching the render backend is as easy as using `renderer = PulsarPointsRenderer(rasterizer=rasterizer).to(device)` instead of `renderer = PointsRenderer(rasterizer=rasterizer, compositor=compositor)` and adding the `gamma` parameter to the forward function. All PyTorch3D camera types are supported as far as possible; keyword arguments are properly forwarded to the camera. The `PerspectiveCamera` and `OrthographicCamera` require znear and zfar as additional parameters for the forward pass.
Reviewed By: nikhilaravi
Differential Revision: D21421443
fbshipit-source-id: 4aa0a83a419592d9a0bb5d62486a1cdea9d73ce6
Summary:
This diff integrates the pulsar renderer source code into PyTorch3D as an alternative backend for the PyTorch3D point renderer. This diff is the first of a series of three diffs to complete that migration and focuses on the packaging and integration of the source code.
For more information about the pulsar backend, see the release notes and the paper (https://arxiv.org/abs/2004.07484). For information on how to use the backend, see the point cloud rendering notebook and the examples in the folder `docs/examples`.
Tasks addressed in the following diffs:
* Add the PyTorch3D interface,
* Add notebook examples and documentation (or adapt the existing ones to feature both interfaces).
Reviewed By: nikhilaravi
Differential Revision: D23947736
fbshipit-source-id: a5e77b53e6750334db22aefa89b4c079cda1b443
Summary: To initialize the Cameras class currently we require the principal point, focal length and other parameters to be specified from which we calculate the intrinsic matrix. In some cases the matrix might be directly available e.g. from a dataset and the associated metadata for an image.
Reviewed By: nikhilaravi
Differential Revision: D24489509
fbshipit-source-id: 1b411f19c5f6c8074bcfbf613f3339d5e242c119
Summary: We envision `pytorch3d.vis` to contain submodules with different dependencies. Allow (and require) them to be imported independently.
Reviewed By: theschnitz
Differential Revision: D24622519
fbshipit-source-id: 44840f70f5fd2bd410405bf09546024e48238744
Summary: New methods to directly plot a TexturesUV map with its used points, using PIL and matplotlib.
Reviewed By: gkioxari
Differential Revision: D23782968
fbshipit-source-id: 692970857b5be13a35a3175dc82ac03963a73555
Summary: Fix axis_angle conversions where I used torch.square which doesn't work with pytorch 1.4
Reviewed By: nikhilaravi
Differential Revision: D24451546
fbshipit-source-id: ba26f7dad5fa991f0a8f7d3d09ee7151163aecf4
Summary: We can represent a rotation as a vector in the axis direction, whose length is the rotation anticlockwise in radians around that axis.
Reviewed By: gkioxari
Differential Revision: D24306293
fbshipit-source-id: 2e0f138eda8329f6cceff600a6e5f17a00e4deb7
Summary: Take in a renderer with camera(s) and render the cameras as wireframes in the corresponding plotly plots
Reviewed By: nikhilaravi
Differential Revision: D24151706
fbshipit-source-id: f8e86d61f3d991500bafc0533738c79b96bda630
Summary:
Use a provided renderer's camera positions to render a plotly plot to match what the renderer would render for pointclouds and meshes.
- takes in a Cameras object for viewpoints
- for each subplot, will index into the Cameras object (or use the Cameras object, if len(viewpoint_cameras) == 1 and use the Cameras' eye and at vectors to set plotly's camera's corresponding values, the eye and center values.
Reviewed By: nikhilaravi
Differential Revision: D24094934
fbshipit-source-id: 48abcdb04c6909a172ba9f721522c3446952a089
Summary:
- adds plot_batch_individually
- for each batched object, plots each object in its own subplot with other same-indexed elements of the other batched objects provided as input
Reviewed By: nikhilaravi
Differential Revision: D24258389
fbshipit-source-id: a80128e6e7a03a44c257b0598569159afadb2d39
Summary: Defines a function plot_scene that takes in a dictionary defining subplot and trace layouts for Mesh/Pointcloud objects and plots them. Also supports other plotly axis arguments and mesh lighting. Plot_batch_individually is a wrapper function that takes in one or multiple batched Meshes/Pointclouds and uses plot_scene to plot each element within a batch in an individual subplot, possibly sharing that subplot with traces of other individual elements of the other batched structures passed in.
Reviewed By: nikhilaravi
Differential Revision: D24235479
fbshipit-source-id: 9f669f1b186d55fe5c75552083316c0cf1387472
Summary:
As pointed out in #328, we had an indexing operation where a reshape would do and be faster. The resulting faces_packed_to_edges_packed is no longer contiguous.
Also fix a use of faces_packed_to_edges_packed which might modify the object unintentionally.
Reviewed By: theschnitz
Differential Revision: D24390292
fbshipit-source-id: 225677d8fcc1d6b76efad7706718ecdb5182ffe1
