Summary: Corner case where there's nothing to do in this function.
Reviewed By: nikhilaravi
Differential Revision: D26073476
fbshipit-source-id: eb061683ffe35c1ffa8384c422a1557a636d52cd
Summary: We were double counting some pairs in some cases. Specifically if four or more faces share an edge, then some of them were getting double counted. This is a minimal tweak to avoid that.
Reviewed By: nikhilaravi
Differential Revision: D26073477
fbshipit-source-id: a40032acf3044bb98dd91cb29904614ef64d5599
Summary:
Fixes the assertion that `p1` and `p2` have the same last dimension. The issue was that `D` is set to equal `p2.size(2)`, and then `D` is compared to `p2.size(2)`. The fix instead compares `D` to `p1.size(2).
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/524
Reviewed By: bottler
Differential Revision: D26008688
Pulled By: nikhilaravi
fbshipit-source-id: e32afe9da127d81b1a411d3c223b539a7400597b
Summary: We previously did not send an `up` vector in to plotly when visualization_cameras is supplied. This meant the image would have the default orientation instead of the correct one. Now we use the library function `camera_to_eye_at_up` to calculate the plotly position, which includes the `up` vector.
Reviewed By: nikhilaravi
Differential Revision: D25981183
fbshipit-source-id: abec72b349f3a5519209e0e6c0518133c3750807
Summary:
Plotly viewing from a specific camera location requires converting that location in to an (eye, at, up) specification. There may be other reasons to want to do this as well. I create a separate utility function for it.
I envisage more such utility functions for manipulating camera information, so I create a separate camera_utils.py file for such things.
Reviewed By: nikhilaravi
Differential Revision: D25981184
fbshipit-source-id: 0947bf98b212676c021f2fddf775bf436dee3487
Summary:
It is common when trying things out to want to move a whole mesh or point cloud by the same amount. Here we allow the offset functions to broadcast.
Also add a sanity check to join_meshes_as_scene which it is easy to call wrongly.
Reviewed By: nikhilaravi
Differential Revision: D25980593
fbshipit-source-id: cdf1568e1317e3b81ad94ed4e608ba7eef81290b
Summary: Make `to` on Transform3D carry its member _transforms.
Reviewed By: nikhilaravi
Differential Revision: D25978611
fbshipit-source-id: 12b39e7a657f28d59ca60800bf9f4193a2c08197
Summary: Gradient calculation flags were not properly routed through the Python interface. This diff fixes this. In particular, gradients for focal length (only if no other camera gradients were calculated) and opacity were not calculated as required.
Reviewed By: gkioxari
Differential Revision: D25921202
fbshipit-source-id: 22cbae3bda886d81bb95878f0be45c2ddd29934c
Summary:
Allow PLY files to not contain faces. Allow loading pointclouds with color, at least encoded according to the way of some cloudcompare examples.
TODO: Allow vertex normals to be read, and allow vertex colors to be written. Make the return type of load_ply something more user friendly, like a dict.
Noticed in https://github.com/facebookresearch/pytorch3d/issues/209
Reviewed By: nikhilaravi
Differential Revision: D22573314
fbshipit-source-id: 72ba1f7c6417f5dfc83f2ebf359eff017057635c
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
