Summary: Because rotations and (rotation) quaternions live on curved manifolds, it doesn't make sense to optimize them directly. Having a prominent option to require gradient on random ones may cause people to try, and isn't particularly useful.
Reviewed By: theschnitz
Differential Revision: D29160734
fbshipit-source-id: fc9e320672349fe334747c5b214655882a460a62
Summary:
Change the cow gltf loading test to validate the texture values and not to validate the renderer output because it has an unstable pixel.
Also a couple of lints.
Reviewed By: patricklabatut
Differential Revision: D29131260
fbshipit-source-id: 5e11f066a2a638588aacb09776cc842173ef669f
Summary: As noted in #710, save_ply was failing with some values of the faces tensor. It was assuming the faces were contiguous in using view() to change them. Here we avoid doing that.
Reviewed By: patricklabatut
Differential Revision: D29159655
fbshipit-source-id: 47214a7ce915bab8d81f109c2b97cde464fd57d8
Summary: Implements a conversion function between OpenCV and PyTorch3D cameras.
Reviewed By: patricklabatut
Differential Revision: D28992470
fbshipit-source-id: dbcc9f213ec293c2f6938261c704aea09aad3c90
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: 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:
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: 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:
One test hits problems with CUDA 11.1 and pytorch 1.8. This seems to be a known bug, so we just run that test on the cpu in the problematic cases.
Note - the full test run is much slower with cuda 11.1 than 10.2, but this is known.
Reviewed By: patricklabatut
Differential Revision: D28938933
fbshipit-source-id: cf8ed84cd10a0b52d8f4292edbef7bd4844fea65
Summary: Restore assertNormsClose's printing of its message on failure which I broke in D26233419 (cd9786e787).
Reviewed By: nikhilaravi
Differential Revision: D28799743
fbshipit-source-id: e7a24b2558b68991c731bbd55fb3ca6c1df98f69
Summary: make assertClose print its failure information even if a message is supplied.
Reviewed By: nikhilaravi
Differential Revision: D28799745
fbshipit-source-id: 787c8c356342420cd8f40fdc0b2aba036142298e
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: Avoid test files explicitly importing TestCase objects from each other, because doing so causes the tests to be discovered twice by unittest discover. This means moving a few static functions out of their classes. I noticed this while trying to fix failures from yesterday.
Reviewed By: nikhilaravi
Differential Revision: D28194679
fbshipit-source-id: ac6e6585603bd4ef9c098cdd56891d94f8923ba6
Summary:
A couple of tests are failing in open source after my changes yesterday because of numerical issues calculating normals. In particular we have meshes with very few vertices and several faces, where the normals should be zero but end up non-negligible after F.normalize. I have no idea why the different environments produce different results, so that the tests are passing internally.
An example. Consider a mesh with the following faces:
```
tensor([[4, 0, 2],
[4, 1, 2],
[3, 1, 0],
[1, 3, 1],
[3, 0, 1],
[4, 0, 0],
[4, 0, 2]])
```
At vertex 3, there is one zero-area face and there are two other faces, which are back-to-back with each other. This vertex should have zero normal. The open source calculation produces a small but nonzero normal which varies unpredictably with changes in scale/offset, which can cause test failures.
In this diff, the main change is to increase the number of vertices to make this less likely to happen. Also a small change to init_mesh to make it not generate a batch of empty meshes.
Reviewed By: nikhilaravi
Differential Revision: D28220984
fbshipit-source-id: 79fdc62e5f5f8836de5a3a9980cfd6fe44590359
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: 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: 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:
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
Summary: Simplify finding the data directories in the tests.
Reviewed By: nikhilaravi
Differential Revision: D27634293
fbshipit-source-id: dc308a7c86c41e6fae56a2ab58187c9f0335b575
Summary: Make common functions for finding directories where test data is found, instead of lots of tests using their own `__file__` while trying to get ./tests/data and the tutorials data.
Reviewed By: nikhilaravi
Differential Revision: D27633701
fbshipit-source-id: 1467bb6018cea16eba3cab097d713116d51071e9
Summary: flake8 no longer respects the black fmt:off message, so include specific line-length exclusion.
Reviewed By: nikhilaravi
Differential Revision: D27624641
fbshipit-source-id: adcdb6f55b382fbf252eede3f3ddeda0621da883
Summary:
Update `main` build to latest CircleCI image - Ubuntu 2020.04.
Avoid torch.logical_or and logical_and for PyTorch 1.4 compatibility.
Also speed up the test run with Pytorch 1.4.0 (which has no ninja) by not setting NVCC_FLAGS for it.
Reviewed By: theschnitz
Differential Revision: D27262327
fbshipit-source-id: ddc359d134b1dc755f8b20bd3f33bb080cb3a0e1
Summary: Avoid using the newish member function isfinite. We use torch.isfinite instead for torch 1.4.0 compatibility.
Reviewed By: nikhilaravi
Differential Revision: D26946672
fbshipit-source-id: 853c3716f40061152f1ea54a39eb60b565de7c2c
Summary:
- Fix the calculation of the non square NDC range when the H and W are not integer multiples.
- Add test for this case
Reviewed By: gkioxari
Differential Revision: D26613213
fbshipit-source-id: df6763cac602e9f1d516b41b432c4d2cfbaa356d
Summary: Implements the ascii OFF file format. This was discussed in https://github.com/facebookresearch/pytorch3d/issues/216
Reviewed By: theschnitz
Differential Revision: D25788834
fbshipit-source-id: c141d1f4ba3bad24e3c1f280a20aee782bfd74d6
