672 Commits

Author SHA1 Message Date
Andres Suarez
84a569c0aa Fix unnecessary LICENSELINT suppressions
Reviewed By: zsol

Differential Revision: D34526295

fbshipit-source-id: f511370dc3186bc396d68a2e6d5e0931facbeb42
2022-02-28 11:53:40 -08:00
Winnie Lin
471b126818 add min_triangle_area argument to IsInsideTriangle
Summary:
1. changed IsInsideTriangle in geometry_utils to take in min_triangle_area parameter instead of hardcoded value
2. updated point_mesh_cpu.cpp and point_mesh_cuda.[h/cu] to adapt to changes in geometry_utils function signatures
3. updated point_mesh_distance.py and test_point_mesh_distance.py to modify _C. calls

Reviewed By: bottler

Differential Revision: D34459764

fbshipit-source-id: 0549e78713c6d68f03d85fb597a13dd88e09b686
2022-02-25 12:43:04 -08:00
Jeremy Reizenstein
4d043fc9ac PyTorch 1.7 compatibility
Summary: Small changes discovered based on circleCI failures.

Reviewed By: patricklabatut

Differential Revision: D34426807

fbshipit-source-id: 819860f34b2f367dd24057ca7490284204180a13
2022-02-25 07:53:34 -08:00
Jeremy Reizenstein
f816568735 rename types to avoid clash
Summary: There are cases where importing pytorch3d seems to fail (internally at Meta) because of a clash between the builtin types module and ours, so rename ours.

Reviewed By: patricklabatut

Differential Revision: D34426817

fbshipit-source-id: f175448db6a4967a9a3f7bb6f595aad2ffb36455
2022-02-25 07:53:34 -08:00
Jeremy Reizenstein
0e88b21de6 Use newer circleci image
Summary:
Run the circleci tests with a non depracated circleci image. Small fix for PyTorch 1.7.
We no longer need to manually install nvidia-docker or the CUDA driver.

Reviewed By: patricklabatut

Differential Revision: D34426816

fbshipit-source-id: d6c67bfb0ff86dff8d8f7fe7b8801657c2e80030
2022-02-25 07:53:34 -08:00
Theo-Cheynel
1cbf80dab6 Added matrix_to_axis_angle to the exports of transforms (#1085)
Summary:
# Changelist
- `matrix_to_axis_angle` was declared in `pytorch3d/transforms/rotation_conversions.py` but never exported from the `__init__` file.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1085

Reviewed By: patricklabatut

Differential Revision: D34379935

Pulled By: bottler

fbshipit-source-id: 993c12a176630f91d0f107f298f458b2b35032e5
2022-02-21 11:27:13 -08:00
Georgia Gkioxari
ee71c7c447 small numerical fix to point_mesh
Summary: Small fix by adjusting the area `eps` to account for really small faces when computing point to face distances

Reviewed By: bottler

Differential Revision: D34331336

fbshipit-source-id: 51c4888ea46fefa4e31d5b0bb494a9f9d77813cd
2022-02-21 09:26:38 -08:00
Georgia Gkioxari
3de41223dd lower eps
Summary: Lower the epsilon value in the IoU3D calculation to fix small numerical issue from GH#1082

Reviewed By: bottler

Differential Revision: D34371597

fbshipit-source-id: 12443fa359b7755ef4ae60e9adf83734a1a295ae
2022-02-21 09:26:38 -08:00
Jeremy Reizenstein
967a099231 Use dataclasses inside ply_io.
Summary: Refactor ply_io to make it easier to add new features. Mostly taken from the starting code I attached to https://github.com/facebookresearch/pytorch3d/issues/904.

Reviewed By: patricklabatut

Differential Revision: D34375978

fbshipit-source-id: ec017d31f07c6f71ba6d97a0623bb10be1e81212
2022-02-21 07:24:21 -08:00
Jeremy Reizenstein
feb5d36394 points2vols test fix
Summary: Fix tests which depended on output tensors being identical to input ones, which now fail in main PyTorch branch because of some change in autograd. The functions still work in-place.

Reviewed By: patricklabatut

Differential Revision: D34375817

fbshipit-source-id: 295ae195f75eab6c7abab412c997470d8de8add1
2022-02-21 07:24:21 -08:00
Jeremy Reizenstein
db1f7c4506 avoid symeig
Summary: Use the newer eigh to avoid deprecation warnings in newer pytorch.

Reviewed By: patricklabatut

Differential Revision: D34375784

fbshipit-source-id: 40efe0d33fdfa071fba80fc97ed008cbfd2ef249
2022-02-21 07:24:21 -08:00
Alex Greene
59972b121d flexible background color for point compositing
Summary:
Modified the compositor background color tests to account for either a 3rd or 4th channel. Also replaced hard coding of channel value with C.

Implemented changes to alpha channel appending logic, and cleaned up extraneous warnings and checks, per task instructions.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1048

Reviewed By: bottler

Differential Revision: D34305312

fbshipit-source-id: 2176c3bdd897d1a2ba6ff4c6fa801fea889e4f02
2022-02-18 07:01:22 -08:00
Jeremy Reizenstein
c8f3d6bc0b Fix Transform3d.stack of compositions
Summary:
Add a test for Transform3d.stack, and make it work with composed transformations.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1072 .

Reviewed By: patricklabatut

Differential Revision: D34211920

fbshipit-source-id: bfbd0895494ca2ad3d08a61bc82ba23637e168cc
2022-02-15 06:52:41 -08:00
Jeremy Reizenstein
2a1de3b610 move LinearWithRepeat to pytorch3d
Summary: Move this simple layer from the NeRF project into pytorch3d.

Reviewed By: shapovalov

Differential Revision: D34126972

fbshipit-source-id: a9c6d6c3c1b662c1b844ea5d1b982007d4df83e6
2022-02-14 04:52:30 -08:00
Sergei Ovchinnikov
ef21a6f6aa Importing obj files without usemtl
Summary:
When there is no "usemtl" statement in the .obj file use material from .mtl if there is one.
https://github.com/facebookresearch/pytorch3d/issues/1068

Reviewed By: bottler

Differential Revision: D34141152

fbshipit-source-id: 7a5b5cc3f0bb287dc617f68de2cd085db8f7ad94
2022-02-10 09:39:44 -08:00
David Novotny
12f20d799e Convert from Pytorch3D NDC coordinates to grid_sample coordinates.
Summary: Implements a utility function to convert from 2D coordinates in Pytorch3D NDC space to the coordinates in grid_sample.

Reviewed By: shapovalov

Differential Revision: D33741394

fbshipit-source-id: 88981653356588fe646e6dea48fe7f7298738437
2022-02-09 12:49:55 -08:00
Jeremy Reizenstein
47c0997227 Followup D33970393 (auto typing)
Summary: D33970393 (e9fb6c27e3) ran an inference to add some typing. Remove some where it was a bit too confident. (Also fix some pyre errors in plotly_vis caused by new mismatch.)

Reviewed By: patricklabatut

Differential Revision: D34004689

fbshipit-source-id: 430182b0ff0b91be542a3120da6d6b1d2b247c59
2022-02-09 12:42:56 -08:00
Pyre Bot Jr
e9fb6c27e3 Add annotations to vision/fair/pytorch3d
Reviewed By: shannonzhu

Differential Revision: D33970393

fbshipit-source-id: 9b4dfaccfc3793fd37705a923d689cb14c9d26ba
2022-02-03 01:46:32 -08:00
Jeremy Reizenstein
c2862ff427 use workaround for points_normals
Summary:
Use existing workaround for batched 3x3 symeig because it is faster than torch.symeig.

Added benchmark showing speedup. True = workaround.
```
Benchmark                Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
normals_True_3000            16237           17233             31
normals_True_6000            33028           33391             16
normals_False_3000        18623069        18623069              1
normals_False_6000        36535475        36535475              1
```

Should help https://github.com/facebookresearch/pytorch3d/issues/988

Reviewed By: nikhilaravi

Differential Revision: D33660585

fbshipit-source-id: d1162b277f5d61ed67e367057a61f25e03888dce
2022-01-24 11:41:55 -08:00
Jeremy Reizenstein
5053142363 typing for unproject_points
Summary: Fix the base class annotation for unproject_points.

Reviewed By: patricklabatut

Differential Revision: D33281586

fbshipit-source-id: 1c34e8c4b30b359fcb9307507bc778ad3fecf290
2022-01-24 10:52:24 -08:00
Jeremy Reizenstein
67778caee8 avoid deprecated raysamplers
Summary: Migrate away from NDCGridRaysampler and GridRaysampler to their more flexible replacements.

Reviewed By: patricklabatut

Differential Revision: D33281584

fbshipit-source-id: 65f8702e700a32d38f7cd6bda3924bb1707a0633
2022-01-24 10:52:23 -08:00
Jeremy Reizenstein
3eb4233844 New raysamplers
Summary: New MultinomialRaysampler succeeds GridRaysampler bringing masking and subsampling. Correspondingly, NDCMultinomialRaysampler succeeds NDCGridRaysampler.

Reviewed By: nikhilaravi, shapovalov

Differential Revision: D33256897

fbshipit-source-id: cd80ec6f35b110d1d20a75c62f4e889ba8fa5d45
2022-01-24 10:52:23 -08:00
Jeremy Reizenstein
174738c33e safer pip install in doc
Summary: Add --no-cache and --no-index to all commands which try to download wheels from S3, to avoid hitting pypi.

Reviewed By: nikhilaravi

Differential Revision: D33507975

fbshipit-source-id: ee796e43cc1864e475cd73c248e9900487012f25
2022-01-21 06:28:32 -08:00
Jeremy Reizenstein
45d096e219 cameras_from_opencv_projection device #1021
Summary: Fix https://github.com/facebookresearch/pytorch3d/issues/1021 that cameras_from_opencv_projection always creates on CPU.

Reviewed By: nikhilaravi

Differential Revision: D33508211

fbshipit-source-id: fadebd45cacafd633af6a58094cf6f654529992c
2022-01-21 05:32:20 -08:00
Jeremy Reizenstein
39bb2ce063 Join cameras as batch
Summary:
Function to join a list of cameras objects into a single batched object.

FB: In the next diff I will remove the `concatenate_cameras` function in implicitron and update the callsites.

Reviewed By: nikhilaravi

Differential Revision: D33198209

fbshipit-source-id: 0c9f5f5df498a0def9dba756c984e6a946618158
2022-01-21 05:29:43 -08:00
Jeremy Reizenstein
9e2bc3a17f ambient lights batching #1043
Summary:
convert_to_tensors_and_broadcast had a special case for a single input, which is not used anywhere except fails to do the right thing if a TensorProperties has only one kwarg. At the moment AmbientLights may be the only way to hit the problem. Fix by removing the special case.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1043

Reviewed By: nikhilaravi

Differential Revision: D33638345

fbshipit-source-id: 7a6695f44242e650504320f73b6da74254d49ac7
2022-01-20 09:44:38 -08:00
Jeremy Reizenstein
fddd6a700f drop builds for PyTorch 1.6.0
Summary: PyTorch 1.7.0 was in Oct 2020 and 1.7.1 was in Dec 2020. We shouldn't need older than them, maybe not even 1.7.0.

Reviewed By: patricklabatut

Differential Revision: D33507967

fbshipit-source-id: d3de09c20c44870cbe5522705f2293acc0e62af3
2022-01-10 10:04:02 -08:00
Jeremy Reizenstein
85cdcc252d builds for PyTorch 1.10.1
Summary: Adds 1.10.1 to the nightly builds

Reviewed By: patricklabatut

Differential Revision: D33507966

fbshipit-source-id: af88b155adbc4e3236107f709323bd46a1819013
2022-01-10 10:04:02 -08:00
Jeremy Reizenstein
fc4dd80208 initialize pointcloud from list containing Nones
Summary:
The following snippet should work in more cases.
     point_cloud = Pointclouds(
         [pcl.points_packed() for pcl in point_clouds],
         features=[pcl.features_packed() for pcl in point_clouds],
     )

We therefore allow features and normals inputs to be lists which contain some (but not all) Nones.

The initialization of a Pointclouds from empty data is also made a bit better now at working out how many feature channels there are.

Reviewed By: davnov134

Differential Revision: D31795089

fbshipit-source-id: 54bf941ba80672d699ffd5ac28927740e830f8ab
2022-01-07 05:54:44 -08:00
Jeremy Reizenstein
9640560541 test listing
Summary: Quick script to list tests to help completion of test command.

Reviewed By: patricklabatut

Differential Revision: D33279584

fbshipit-source-id: acb463106d311498449a14c1daf52434878722bf
2022-01-06 02:56:32 -08:00
Jeremy Reizenstein
6726500ad3 simple warning for bin overflow
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
2022-01-06 02:30:49 -08:00
Jeremy Reizenstein
d6a12afbe7 Pointclouds.subsample on Windows
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
2022-01-06 02:22:44 -08:00
Jeremy Reizenstein
49f93b6388 remove Python3.6 builds
Summary: Python 3.6 was EOL on 2021-12-23.

Reviewed By: patricklabatut

Differential Revision: D33428708

fbshipit-source-id: 37a73898df49a4a49266839278fc8be56597405d
2022-01-05 07:25:02 -08:00
Jeremy Reizenstein
741777b5b5 More company name & License
Summary: Manual adjustments for license changes.

Reviewed By: patricklabatut

Differential Revision: D33405657

fbshipit-source-id: 8a21735726f3aece9f9164da9e3b272b27db8032
2022-01-04 11:43:38 -08:00
Jeremy Reizenstein
9eeb456e82 Update license for company name
Summary: Update all FB license strings to the new format.

Reviewed By: patricklabatut

Differential Revision: D33403538

fbshipit-source-id: 97a4596c5c888f3c54f44456dc07e718a387a02c
2022-01-04 11:43:38 -08:00
Pyre Bot Jr
7660ed1876 suppress errors in fbcode/vision - batch 2
Differential Revision: D33338085

fbshipit-source-id: fdb207864718c56dfa0d20530b59349c93af11bd
2021-12-28 11:28:48 -08:00
Nikhila Ravi
52c71b8816 Update Harmonic embedding in NeRF
Summary: Removed harmonic embedding function from projects/nerf and changed import to be from core pytorch3d.

Reviewed By: patricklabatut

Differential Revision: D33142358

fbshipit-source-id: 3004247d50392dbd04ea72e9cd4bace0dc03606b
2021-12-21 15:05:33 -08:00
Nikhila Ravi
f9a26a22fc Move Harmonic embedding to core pytorch3d
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
2021-12-21 15:05:33 -08:00
Nikhila Ravi
d67662d13c Update use of select_cameras
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
2021-12-21 05:46:38 -08:00
Nikhila Ravi
28ccdb7328 Enable __getitem__ for Cameras to return an instance of Cameras
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
2021-12-21 05:46:38 -08:00
Jeremy Reizenstein
cc3259ba93 update linux wheel builds
Summary:
* Add PyTorch 1.10 + CUDA 11.1 combination.
* Change the CUDA 11.3 builds to happen in a separate docker image.
* Update connection to AWS to use the official `aws` commands instead of the wrapper which is now gone.

Reviewed By: patricklabatut

Differential Revision: D33235489

fbshipit-source-id: 56401f27c002a512ae121b3ec5911d020bfab885
2021-12-21 05:07:41 -08:00
Jeremy Reizenstein
b51be58f63 validate sampling_mode
Summary: New sampling mode option in TexturesUV mush match when collating meshes.

Reviewed By: patricklabatut

Differential Revision: D33235901

fbshipit-source-id: f457473d90bf022e65fe122ef45bf5efad134345
2021-12-21 04:48:14 -08:00
Jeremy Reizenstein
7449951850 force old mistune for website
Summary: When parsing tutorials for building the website, we fix a few libraries at old versions. They need mistune 0.8.4, not the new version 2+, so this gets added to the list of fixed-version libraries.

Reviewed By: patricklabatut

Differential Revision: D33236031

fbshipit-source-id: 2b152b64043edffc59fa909012eab5794c7e8844
2021-12-21 04:44:36 -08:00
Nikhila Ravi
262c1bfcd4 Join points as batch
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
2021-12-21 04:44:36 -08:00
Jeremy Reizenstein
eb2bbf8433 screen space docstrings fix
Summary: Fix some comments to match the recent change to transform_points_screen.

Reviewed By: patricklabatut

Differential Revision: D33243697

fbshipit-source-id: dc8d182667a9413bca2c2e3657f97b2f7a47c795
2021-12-21 04:31:33 -08:00
Jeremy Reizenstein
1152a93b72 PyTorch>1.9 version str
Summary: Make code for downloading linux wheels robust to double-digit PyTorch minor version.

Reviewed By: nikhilaravi

Differential Revision: D33170562

fbshipit-source-id: 559a97cc98ff8411e235a9f9e29f84b7a400c716
2021-12-18 15:49:17 -08:00
Pyre Bot Jr
315f2487db suppress errors in vision/fair/pytorch3d
Differential Revision: D33202801

fbshipit-source-id: d4cb0f4f4a8ad5a6519ce4b8c640e8f96fbeaccb
2021-12-17 19:23:58 -08:00
Georgia Gkioxari
ccfb72cc50 small fix for iou3d
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
2021-12-17 16:13:51 -08:00
Jeremy Reizenstein
069c9fd759 pytorch TORCH_CHECK_ARG version compatibility
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
2021-12-15 08:34:10 -08:00
CodemodService FBSourceClangFormatLinterBot
9eec430f1c Daily arc lint --take CLANGFORMAT
Reviewed By: zertosh

Differential Revision: D33090919

fbshipit-source-id: 78efa486776014a27f280a01a21f9e0af6742e3e
2021-12-14 08:06:14 -08:00