Summary: Adding a render function for R2N2.
Reviewed By: nikhilaravi
Differential Revision: D22230228
fbshipit-source-id: a9f588ddcba15bb5d8be1401f68d730e810b4251
Summary: Skeleton of R2N2 that for now only returns verts and faces extracted from ShapeNetCore v1.
Reviewed By: nikhilaravi
Differential Revision: D22203656
fbshipit-source-id: 00db6ac76bfdb76fdbc77a2087c34a3f0ff01e6a
Summary: Adding collate_batched_meshes for datasets.utils: takes in a list of dictionaries and merge them into one dictionary (while adding a merged mesh to the dictionary).
Reviewed By: nikhilaravi
Differential Revision: D22180404
fbshipit-source-id: f811f9a140f09638f355ad5739bffa6ee415819f
Summary: Additional functionality for renderer in ShapeNetCore: users can select which objects to render by specifying their model_ids, or users could choose to render several random objects in some categories, or users could specify indices of the objects in the loaded dataset. (currently doesn't support changing lighting, still investigating why lighting is causing instability in renderings)
Reviewed By: nikhilaravi
Differential Revision: D22179594
fbshipit-source-id: 74c49094ffa3ea2eb71de9451f9e5da5053d356d
Summary: Adding a renderer to ShapeNetCore (Note that the lights are currently turned off for the test; will investigate why lighting causes instability in rendering)
Reviewed By: nikhilaravi
Differential Revision: D22102673
fbshipit-source-id: a704756a1e93b61d5a879f0e5ee14ebcb0df49d7
Summary: When rendering meshes with Phong shading, interpolate_face_attributes was taking up a nontrivial fraction of the overall shading time. This diff replaces our Python implementation of this function with a CUDA implementation.
Reviewed By: nikhilaravi
Differential Revision: D21610763
fbshipit-source-id: 2bb362a28f698541812aeab539047264b125ebb8
Summary:
There is a bug in efficient PnP that incorrectly weights points. This fixes it.
The test does not pass for the previous version with the bug.
Reviewed By: shapovalov
Differential Revision: D22449357
fbshipit-source-id: f5a22081e91d25681a6a783cce2f5c6be429ca6a
Summary: Conversion to/from the 6D representation of rotation from the paper http://arxiv.org/abs/1812.07035 ; based on David’s implementation.
Reviewed By: davnov134
Differential Revision: D22234397
fbshipit-source-id: 9e25ee93da7e3a2f2068cbe362cb5edc88649ce0
Summary: Added `sorted` argument to the `knn_points` function. This came up during the benchmarking against Faiss - sorting added extra memory usage. Match the memory usage of Faiss by making sorting optional.
Reviewed By: bottler, gkioxari
Differential Revision: D22329070
fbshipit-source-id: 0828ff9b48eefce99ce1f60089389f6885d03139
Summary:
Fix default setting of `max_faces_per_bin` and update mesh rasterization benchmark tests.
The previous setting of `max_faces_per_bin` was wrong and for larger mesh sizes and batch sizes it was causing a significant slow down due to an unecessarily large intermediate tensor being created.
Reviewed By: gkioxari
Differential Revision: D22301819
fbshipit-source-id: d5e817f5b917fb5633c9c6a8634b6c8ff65e3508
Summary:
Fixes the default setting of `max_points_per_bin` in `rasterize_points.py`. For large batches with large size pointclouds this was a causing the rasterizer to be very slow.
Expanded the pointcloud rendering benchmarks to include larger size pointclouds and fixed cuda synchronization issue in benchmark.
Reviewed By: gkioxari
Differential Revision: D22301185
fbshipit-source-id: 5077c1ba2c43d73efc1c659f0ec75959ceddf893
Summary: Adding support so that users can select which categories they would like to load with wordnet synset offsets or labels or a combination of both. ShapeNetCore now also supports loading v2.
Reviewed By: nikhilaravi
Differential Revision: D22039207
fbshipit-source-id: 1f0218acb790e5561e2ae373e99cebb9823eea1a
Summary: Skeleton of ShapeNetCore class that loads ShapeNet v1 from a given directory to a Dataset object. Overrides _init_, _len_, and _getitem_ from torch.utils.data.Dataset. Currently getitem returns verts, faces and id_str, where id_str is a concatenation of synset_id and obj_id. Planning on adding support for loading ShapeNet v2, retrieving textures and returning wordnet synsets (not just ids) in next diffs.
Reviewed By: nikhilaravi
Differential Revision: D21986222
fbshipit-source-id: c2c515303f1898b6c495b52cb53c74d691585326
Summary:
point_mesh functions were missing CPU implementations.
The indices returned are not always matching, possibly due to numerical instability.
Reviewed By: gkioxari
Differential Revision: D21594264
fbshipit-source-id: 3016930e2a9a0f3cd8b3ac4c94a92c9411c0989d
Summary:
Pytorch seems to be becoming stricter about integer tensors of shape `(1,)` on GPU and not allowing them to be used as `int`s. For example the following no longer works on pytorch master,
foo = torch.tensor([3, 5, 3], device="cuda:0")
torch.arange(10) + foo[0]
because this is the sum of tensors on different devices.
Here fix tests which recently broke because of this.
Reviewed By: nikhilaravi
Differential Revision: D21929745
fbshipit-source-id: 25374f70468d1c895372766f1a9dd61df0833957
Summary: Adding a function in pytorch3d.structures.meshes to join multiple meshes into a Meshes object representing a single mesh. The function currently ignores all textures.
Reviewed By: nikhilaravi
Differential Revision: D21876908
fbshipit-source-id: 448602857e9d3d3f774d18bb4e93076f78329823
Summary: To avoid pytorch warnings and future behaviour changes, stop using torch.div and / with tensors of integers.
Reviewed By: gkioxari, mruberry
Differential Revision: D21857955
fbshipit-source-id: fb9f3000f3d953352cdc721d2a5f73d3a4bbf4b7
Summary: Adds support to hard_rgb_blend and hard blending shaders in shader.py (HardPhongShader, HardGouraudShader, and HardFlatShader) for changing the background color on which objects are rendered
Reviewed By: nikhilaravi
Differential Revision: D21746062
fbshipit-source-id: 08001200f4339d6a69c52405c6b8f4cac9f3f56e
Summary:
Update the transform method in the mesh rasterizer class to use the new `update_padded` method on the `Meshes` class to directly update the mesh vertices.
Also added a benchmark.
Reviewed By: gkioxari
Differential Revision: D21700352
fbshipit-source-id: c330e4040c681729eb2cc7bdfd92fb4a51a1a7d6
Summary:
Three changes to Meshes
1. `num_verts_per_mesh` and `num_faces_per_mesh` are assigned at construction time and are returned without the need for `compute_packed`
2. `update_padded` updates `verts_padded` and shallow copies faces list and faces_padded and existing attributes from construction.
3. `padded_to_packed_idx` does not need `compute_packed`
Reviewed By: nikhilaravi
Differential Revision: D21653674
fbshipit-source-id: dc6815a2e2a925fe4a834fe357919da2b2c14527
Summary: Add ability to decode ply files which use types like int32.
Reviewed By: nikhilaravi
Differential Revision: D21639208
fbshipit-source-id: 0ede7d4aa353a6e940446680a18e7ac0c48fafee
Summary: I was trying to speed up the lighting computations, but my ideas didn't work. Even if that didn't work, we can at least commit the benchmarking script I wrote for diffuse and specular shading.
Reviewed By: nikhilaravi
Differential Revision: D21580171
fbshipit-source-id: 8b60c0284e91ecbe258b6aae839bd5c2bbe788aa
Summary: lg-zhang found the problem with the quadratic part of ePnP implementation: n262385 . It was caused by a coefficient returned from the linear equation solver being equal to exactly 0.0, which caused `sign()` to return 0, something I had not anticipated. I also made sure we avoid division by zero by clamping all relevant denominators.
Reviewed By: nikhilaravi, lg-zhang
Differential Revision: D21531200
fbshipit-source-id: 9eb2fa9d4f4f8f5f411d4cf1cffcc44b365b7e51
Summary:
Fixes the case where the rotation angle is exactly 0/PI.
Added a test for `so3_log_map(identity_matrix)`.
Reviewed By: nikhilaravi
Differential Revision: D21477078
fbshipit-source-id: adff804da97f6f0d4f50aa1f6904a34832cb8bfe
Summary: Fix to enable a mesh/point rasterizer to be initialized without having to specify the camera.
Reviewed By: jcjohnson, gkioxari
Differential Revision: D21362359
fbshipit-source-id: 4f84ea18ad9f179c7b7c2289ebf9422a2f5e26de
Summary: This has been failing intermittently
Reviewed By: nikhilaravi
Differential Revision: D21403157
fbshipit-source-id: 51b74d6c813b52effe72d14b565e250fcabbb463
Summary:
Ran the linter.
TODO: need to update the linter as per D21353065.
Reviewed By: bottler
Differential Revision: D21362270
fbshipit-source-id: ad0e781de0a29f565ad25c43bc94a19b1828c020
Summary:
Use nn.functional.interpolate instead of a TorchVision transform to resize texture maps to a common value. This works on all devices. This fixes issue #175.
Also fix the condition so it only happens when needed.
Reviewed By: nikhilaravi
Differential Revision: D21324510
fbshipit-source-id: c50eb06514984995bd81f2c44079be6e0b4098e4
Summary: Bump the nvidia driver used in the conda tests. Add an environment variable (unused) to allow building without ninja. Print relative error on assertClose failure.
Reviewed By: nikhilaravi
Differential Revision: D21227373
fbshipit-source-id: 5dd8eb097151da27d3632daa755a1e7b9ac97845
Summary:
Cuda test failing on circle with the error `random_ expects 'from' to be less than 'to', but got from=0 >= to=0`
This is because the `high` value in `torch.randint` is 1 more than the highest value in the distribution from which a value is drawn. So if there is only 1 cuda device available then the low and high are 0.
Reviewed By: gkioxari
Differential Revision: D21236669
fbshipit-source-id: 46c312d431c474f1f2c50747b1d5e7afbd7df3a9
Summary:
Updates to:
- enable cuda kernel launches on any GPU (not just the default)
- cuda and contiguous checks for all kernels
- checks to ensure all tensors are on the same device
- error reporting in the cuda kernels
- cuda tests now run on a random device not just the default
Reviewed By: jcjohnson, gkioxari
Differential Revision: D21215280
fbshipit-source-id: 1bedc9fe6c35e9e920bdc4d78ed12865b1005519
Summary:
Updated the load obj function to support creating of a per face texture map using the information in an .mtl file. Uses the approach from in SoftRasterizer.
Currently I have ported in the SoftRasterizer code but this is only to help with comparison and will be deleted before landing. The ShapeNet Test data will also be deleted.
Here is the [Design doc](https://docs.google.com/document/d/1AUcLP4QwVSqlfLAUfbjM9ic5vYn9P54Ha8QbcVXW2eI/edit?usp=sharing).
## Added
- texture atlas creation functions in PyTorch based on the SoftRas cuda implementation
- tests to compare SoftRas vs PyTorch3D implementation to verify it matches (using real shapenet data with meshes consisting of multiple textures)
- benchmarks tests
## Remaining todo:
- add more tests for obj io to test the new functions and the two texturing options
- replace the shapenet data with the output from SoftRas saved as a file.
# MAIN FILES TO REVIEW
- `obj_io.py`
- `test_obj_io.py` [still some tests to be added but have comparisons with SoftRas for now]
The reference SoftRas implementations are in `softras_load_obj.py` and `load_textures.cu`.
Reviewed By: gkioxari
Differential Revision: D20754859
fbshipit-source-id: 42ace9dfb73f26e29d800c763f56d5b66c60c5e2
Summary:
We have multiple KNN CUDA implementations. From python, users can currently request a particular implementation via the `version` flag, but they have no way of knowing which implementations can be used for a given problem.
This diff exposes a function `pytorch3d._C.knn_check_version(version, D, K)` that returns whether a particular version can be used.
Reviewed By: nikhilaravi
Differential Revision: D21162573
fbshipit-source-id: 6061960bdcecba454fd920b00036f4e9ff3fdbc0
Summary:
Modify test_chamfer for more robustness. Avoid empty pointclouds, including where point_reduction is mean, for which we currently return nan (*), and so that we aren't looking at an empty gradient. Make sure we aren't using padding as points in the homogenous cases in the tests, which will lead to a tie between closest points and therefore a potential instability in the gradient - see https://github.com/pytorch/pytorch/issues/35699.
(*) This doesn't attempt to fix the nan.
Reviewed By: nikhilaravi, gkioxari
Differential Revision: D21157322
fbshipit-source-id: a609e84e25a24379c8928ff645d587552526e4af
Summary:
Added backface culling as an option to the `raster_settings`. This is needed for the full forward rendering of shapenet meshes with texture (some meshes contain
multiple overlapping segments which have different textures).
For a triangle (v0, v1, v2) define the vectors A = (v1 - v0) and B = (v2 − v0) and use this to calculate the area of the triangle as:
```
area = 0.5 * A x B
area = 0.5 * ((x1 − x0)(y2 − y0) − (x2 − x0)(y1 − y0))
```
The area will be positive if (v0, v1, v2) are oriented counterclockwise (a front face), and negative if (v0, v1, v2) are oriented clockwise (a back face).
We can reuse the `edge_function` as it already calculates the triangle area.
Reviewed By: jcjohnson
Differential Revision: D20960115
fbshipit-source-id: 2d8a4b9ccfb653df18e79aed8d05c7ec0f057ab1
Summary:
Fix a bug which resulted in a rendering artifacts if the image size was not a multiple of 16.
Fix: Revert coarse rasterization to original implementation and only update fine rasterization to reverse the ordering of Y and X axis. This is much simpler than the previous approach!
Additional changes:
- updated mesh rendering end-end tests to check outputs from both naive and coarse to fine rasterization.
- added pointcloud rendering end-end tests
Reviewed By: gkioxari
Differential Revision: D21102725
fbshipit-source-id: 2e7e1b013dd6dd12b3a00b79eb8167deddb2e89a
Summary:
None of the current test_build tests make sense during `conda build`.
Also remove the unnecessary dependency on the `six` library.
Reviewed By: nikhilaravi
Differential Revision: D20893852
fbshipit-source-id: 685f0446eaa0bd9151eeee89fc630a1ddc0252ff
Summary:
Efficient PnP algorithm to fit 2D to 3D correspondences under perspective assumption.
Benchmarked both variants of nullspace and pick one; SVD takes 7 times longer in the 100K points case.
Reviewed By: davnov134, gkioxari
Differential Revision: D20095754
fbshipit-source-id: 2b4519729630e6373820880272f674829eaed073
Summary: Made a CameraBase class. Added `unproject_points` method for each camera class.
Reviewed By: nikhilaravi
Differential Revision: D20373602
fbshipit-source-id: 7e3da5ae420091b5fcab400a9884ef29ad7a7343
Summary: Estimates normals of a point cloud.
Reviewed By: gkioxari
Differential Revision: D20860182
fbshipit-source-id: 652ec2743fa645e02c01ffa37c2971bf27b89cef
Summary: knn is more general and faster than the nearest_neighbor code, so remove the latter.
Reviewed By: gkioxari
Differential Revision: D20816424
fbshipit-source-id: 75d6c44d17180752d0c9859814bbdf7892558158
