49 Commits

Author SHA1 Message Date
Jeremy Reizenstein
7fa333f632 Fix some Transform3D -> Transform3d
Summary: Fix some typos in comments.

Reviewed By: patricklabatut

Differential Revision: D32596645

fbshipit-source-id: 09b6d8c49f4f0301b80df626c6f9a2d5b5d9b1a7
2021-11-23 11:31:11 -08:00
una-dinosauria
bee31c48d3 Make some matrix conversion jittable (#898)
Summary:
Make sure the functions from `rotation_conversion` are jittable, and add some type hints.

Add tests to verify this is the case.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/898

Reviewed By: patricklabatut

Differential Revision: D31926103

Pulled By: bottler

fbshipit-source-id: bff6013c5ca2d452e37e631bd902f0674d5ca091
2021-10-26 14:31:46 -07:00
Pyre Bot Jr
7c111f7379 suppress errors in vision/fair/pytorch3d
Differential Revision: D31737477

fbshipit-source-id: 2590548c1b7a65c277ccddd405276c244fde0961
2021-10-18 12:18:08 -07:00
Pyre Bot Jr
6d36c1e2b0 suppress errors in vision/fair/pytorch3d
Differential Revision: D31496551

fbshipit-source-id: 705fd88f319875db3f7938a2946c48a51ea225f5
2021-10-07 21:58:08 -07:00
Theo-Cheynel
720bdf60f5 Removed typos 'f' from the f-string error messages (#851)
Summary:
Changed mistake in Python f-strings causing an additional letter "f" to appear in the error messages.
The error messages would read something like :
```
raise ValueError(f"Invalid rotation matrix  shape f{matrix.shape}.")
ValueError: Invalid rotation matrix  shape ftorch.Size([4, 4]).
```
(with an additional f, probably a mistake)

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/851

Reviewed By: nikhilaravi

Differential Revision: D31238831

Pulled By: patricklabatut

fbshipit-source-id: 0ba3e61e488e467e997954278097889be606d4f8
2021-09-30 03:26:14 -07:00
Jeremy Reizenstein
9a737da83c More renderer parameter descriptions
Summary:
Copy some descriptions of renderer parameters to more places so they are easier to find.

Also a couple of small corrections, and make RasterizationSettings a dataclass.

Reviewed By: nikhilaravi, patricklabatut

Differential Revision: D30899822

fbshipit-source-id: 805cf366acb7d51cb308fa574deff0657c199673
2021-09-24 09:59:24 -07:00
Pyre Bot Jr
526df446c6 suppress errors in vision/fair/pytorch3d
Differential Revision: D31042748

fbshipit-source-id: fffb983bd6765d306a407587ddf64e68e57e9ecc
2021-09-18 12:24:58 -07:00
Shangchen Han
46f727cb68 make so3_log_map torch script compatible
Summary:
* HAT_INV_SKEW_SYMMETRIC_TOL was a global variable and torch script gives an error when compiling that function. Move it to the function scope.
* torch script gives error when compiling acos_linear_extrapolation because bound is a union of tuple and float. The tuple version is kept in this diff.

Reviewed By: patricklabatut

Differential Revision: D30614916

fbshipit-source-id: 34258d200dc6a09fbf8917cac84ba8a269c00aef
2021-09-10 11:13:26 -07:00
Pyre Bot Jr
fadec970c9 suppress errors in vision/fair/pytorch3d
Differential Revision: D30479084

fbshipit-source-id: 6b22dd0afe4dfb1be6249e43a56657519f11dcf1
2021-08-22 23:39:37 -07:00
Jeremy Reizenstein
5ecce83217 PyTorch 1.4 compat
Summary: Restore compatibility with PyTorch 1.4 and 1.5, and a few lint fixes.

Reviewed By: patricklabatut

Differential Revision: D30048115

fbshipit-source-id: ee05efa7c625f6079fb06a3cc23be93e48df9433
2021-08-03 08:10:52 -07:00
Alexey Sidnev
bcee361d04 Replace torch.det() with manual implementation for 3x3 matrix
Summary:
# Background
There is an unstable error during training (it can happen after several minutes or after several hours).
The error is connected to `torch.det()` function in  `_check_valid_rotation_matrix()`.

if I remove the function `torch.det()` in `_check_valid_rotation_matrix()` or remove the whole functions `_check_valid_rotation_matrix()` the error is disappeared (D29555876).

# Solution
Replace `torch.det()` with manual implementation for 3x3 matrix.

Reviewed By: patricklabatut

Differential Revision: D29655924

fbshipit-source-id: 41bde1119274a705ab849751ece28873d2c45155
2021-07-19 05:02:51 -07:00
Alexey Sidnev
2f668ecefe Disable gradient calculation in _check_valid_rotation_matrix()
Summary:
# Make `transform3d.py` a little bit better (performance and code quality)

## 1. Add decorator `torch.no_grad()` to the function `_check_valid_rotation_matrix()`

Function `_check_valid_rotation_matrix()` is needed to identify errors during forward pass only, it's not used for gradients.

## 2. Replace two calls `to` with the single one

Reviewed By: bottler

Differential Revision: D29656501

fbshipit-source-id: 4419e24dbf436c1b60abf77bda4376fb87a593be
2021-07-16 01:58:29 -07:00
Jeremy Reizenstein
b8790474f1 work with old linalg
Summary: solve and lstsq have moved around in torch. Cope with both.

Reviewed By: patricklabatut

Differential Revision: D29302316

fbshipit-source-id: b34f0b923e90a357f20df359635929241eba6e74
2021-06-28 06:31:35 -07:00
Patrick Labatut
5284de6e97 Deprecate so3_exponential_map
Summary: Deprecate the `so3_exponential_map()` function in favor of its alias `so3_exp_map()`: this aligns with the naming of `so3_log_map()` and the recently introduced `se3_exp_map()` / `se3_log_map()` pair.

Reviewed By: bottler

Differential Revision: D29329966

fbshipit-source-id: b6f60b9e86b2995f70b1fbeb16f9feea05c55de9
2021-06-28 04:28:06 -07:00
Patrick Labatut
f593bfd3c2 More type annotations
Summary: More type annotations: device, shaders, pluggable I/O, stats in NeRF project, cameras, textures, etc...

Reviewed By: nikhilaravi

Differential Revision: D29327396

fbshipit-source-id: cdf0ceaaa010e22423088752688c8dd81f1acc3c
2021-06-25 19:56:25 -07:00
Patrick Labatut
64289a491d Annotate dunder functions
Summary: Annotate the (return type of the) following dunder functions across the codebase: `__init__()`, `__len__()`, `__getitem__()`

Reviewed By: nikhilaravi

Differential Revision: D29001801

fbshipit-source-id: 928d9e1c417ffe01ab8c0445311287786e997c7c
2021-06-24 15:19:16 -07:00
Patrick Labatut
af93f34834 License lint codebase
Summary: License lint codebase

Reviewed By: theschnitz

Differential Revision: D29001799

fbshipit-source-id: 5c59869911785b0181b1663bbf430bc8b7fb2909
2021-06-22 03:45:27 -07:00
Jeremy Reizenstein
ce60d4b00e remove requires_grad from random rotations
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
2021-06-21 11:45:42 -07:00
David Novotny
b2ac2655b3 SE3 exponential and logarithm maps.
Summary:
Implements the SE3 logarithm and exponential maps.
(this is a second part of the split of D23326429)

Outputs of `bm_se3`:
```
Benchmark         Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
SE3_EXP_1                738             885            678
SE3_EXP_10               717             877            698
SE3_EXP_100              718             847            697
SE3_EXP_1000             729            1181            686
--------------------------------------------------------------------------------

Benchmark          Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
SE3_LOG_1               1451            2267            345
SE3_LOG_10              2185            2453            229
SE3_LOG_100             2217            2448            226
SE3_LOG_1000            2455            2599            204
--------------------------------------------------------------------------------
```

Reviewed By: patricklabatut

Differential Revision: D27852557

fbshipit-source-id: e42ccc9cfffe780e9cad24129de15624ae818472
2021-06-21 04:48:27 -07:00
David Novotny
9f14e82b5a SO3 improvements for stable gradients.
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
2021-06-21 04:48:27 -07:00
David Novotny
dd45123f20 Linearly extrapolated acos.
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
2021-06-21 04:48:27 -07:00
Roman Shapovalov
1b39cebe92 Sign issue about quaternion_to_matrix and matrix_to_quaternion
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
2021-06-18 06:40:02 -07:00
Patrick Labatut
44508ed0db Make Transform3d.to() not ignore dtype
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
2021-06-09 15:50:09 -07:00
Patrick Labatut
13a0110b69 Tidy uses of torch.device in Transform3d
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
2021-06-09 15:50:09 -07:00
Dave Schnizlein
cd5af2521a Update Rotate transform to use device of input rotation
Summary: Currently the Rotate transform does not consider the R's device at all, resulting in errors if you're expecting it to be on cuda but it gets the default casting to cpu. This updates the transform to respect R's device.

Reviewed By: nikhilaravi

Differential Revision: D27828118

fbshipit-source-id: ddd99f73eadbd990688eb22f3d1ffbacbe168c81
2021-05-19 10:04:12 -07:00
Jeremy Reizenstein
124bb5e391 spelling
Summary: Collection of spelling things, mostly in docs / tutorials.

Reviewed By: gkioxari

Differential Revision: D26101323

fbshipit-source-id: 652f62bc9d71a4ff872efa21141225e43191353a
2021-04-09 09:58:54 -07:00
Jeremy Reizenstein
d60c52df4a devices for transform3d
Summary: Make `to` on Transform3D carry its member _transforms.

Reviewed By: nikhilaravi

Differential Revision: D25978611

fbshipit-source-id: 12b39e7a657f28d59ca60800bf9f4193a2c08197
2021-01-21 04:58:40 -08:00
David Novotny
1e4a2e8624 __getitem__ for Transform3D
Summary: Implements the `__getitem__` method for `Transform3D`

Reviewed By: nikhilaravi

Differential Revision: D23813975

fbshipit-source-id: 5da752ed8ea029ad0af58bb7a7856f0995519b7a
2021-01-05 03:39:24 -08:00
Nikhila Ravi
ebac66daeb Classic Marching Cubes algorithm implementation
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
2020-12-18 07:25:50 -08:00
Foo Guo Wei
9c6b58c5ad Expose axis-angle/quaternion conversion functions in transforms package (#486)
Summary:
Fixes https://github.com/facebookresearch/pytorch3d/issues/484

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/486

Reviewed By: bottler

Differential Revision: D25620407

Pulled By: nikhilaravi

fbshipit-source-id: 9a29e4e717aebcca46e46ff5e7bb80a183a92836
2020-12-18 05:18:48 -08:00
Christoph Lassner
960fd6d8b6 pulsar interface unification.
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
2020-11-03 13:06:35 -08:00
Christoph Lassner
b19fe1de2f pulsar integration.
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
2020-11-03 13:06:35 -08:00
Jeremy Reizenstein
7e986cfba8 Avoid torch.square
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
2020-10-22 02:23:05 -07:00
Jeremy Reizenstein
c93c4dd7b2 axis_angle representation of rotations
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
2020-10-21 06:23:28 -07:00
Jeremy Reizenstein
4d52f9fb8b matrix_to_quaternion corner case
Summary: Issue #119. The function `sqrt(max(x, 0))` is not convex and has infinite gradient at 0, but 0 is a subgradient at 0. Here we implement it in such a way as to give 0 as the gradient.

Reviewed By: gkioxari

Differential Revision: D24306294

fbshipit-source-id: 48d136faca083babad4d64970be7ea522dbe9e09
2020-10-15 03:21:40 -07:00
Adly Templeton
14f015d8bf Add pyre typeshed information for Tensor.ndim and nn.ConvTranspose2d
Summary: Adding some appropriate methods into pyre typeshed. Removing corresponding pyre-ignore and pyre-fixme messages.

Differential Revision: D22949138

fbshipit-source-id: add8acdd4611ab698954868832594d062cd58f88
2020-09-02 06:52:30 -07:00
Nikhila Ravi
4f78af6170 pyre and lint fixes
Summary: Fixing several unused imports and pyre/linter warnings.

Reviewed By: bottler

Differential Revision: D22592491

fbshipit-source-id: 463383b9b73a545949475044fb5c531712f8482c
2020-07-17 10:28:53 -07:00
Roman Shapovalov
2f3cd98725 6D representation of rotations.
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
2020-07-08 04:01:22 -07:00
Martin Rünz
876bdff2f6 Fix function call in Transform3d documentation (#233)
Summary:
The documentation of `Transform3d` highlights that the class handles points as well as normals. However, `transform_points` is applied to points and normals in the documentation instead of using `transform_normals` for normals, which I believe was intended.

This pull request fixes this typo in the documentation.
Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/233

Reviewed By: bottler

Differential Revision: D22287642

Pulled By: nikhilaravi

fbshipit-source-id: 0bc8754097b2e17a34fa3071319d00b78c3bc803
2020-07-07 10:54:42 -07:00
generatedunixname89002005307016
ae68a54f67 suppress errors in vision - batch 1
Summary:
This diff is auto-generated to upgrade the Pyre version and suppress errors in vision. The upgrade will affect Pyre local configurations in the following directories:
```
vision/ale/search
vision/fair/fvcore
vision/fair/pytorch3d
vision/ocr/rosetta_hash
vision/vogue/personalization
```

Differential Revision: D21688454

fbshipit-source-id: 1f3c3fee42b6da2e162fd0932742ab8c5c96aa45
2020-05-21 19:43:04 -07:00
David Novotny
34a0df0630 SO3 log map fix for singularity at PI
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
2020-05-10 13:15:37 -07:00
David Novotny
90dc7a0856 Initialization of Transform3D with a custom matrix.
Summary:
Allows to initialize a Transform3D object with a batch of user-defined transformation matrices:
```
t = Transform3D(matrix=torch.randn(2, 4, 4))
```

Reviewed By: nikhilaravi

Differential Revision: D20693475

fbshipit-source-id: dccc49b2ca4c19a034844c63463953ba8f52c1bc
2020-04-05 14:44:27 -07:00
Patrick Labatut
d57daa6f85 Address black + isort fbsource linter warnings
Summary: Address black + isort fbsource linter warnings from D20558374 (previous diff)

Reviewed By: nikhilaravi

Differential Revision: D20558373

fbshipit-source-id: d3607de4a01fb24c0d5269634563a7914bddf1c8
2020-03-29 14:51:02 -07:00
Patrick Labatut
3c71ab64cc Remove shebang line when not strictly required
Summary: The shebang line `#!<path to interpreter>` is only required for Python scripts, so remove it on source files for class or function definitions. Additionally explicitly mark as executable the actual Python scripts in the codebase.

Reviewed By: nikhilaravi

Differential Revision: D20095778

fbshipit-source-id: d312599fba485e978a243292f88a180d71e1b55a
2020-03-12 10:39:44 -07:00
Roman Shapovalov
cae325718e Old-style string formatting fails when passed a tuple.
Summary: When the error occurs, another exception is thrown when tensor shape is passed to the % formatting. I have found all entries for `msg %` and fixed potential failures

Reviewed By: nikhilaravi

Differential Revision: D20386511

fbshipit-source-id: c05413eb4867cab1ddc9615dffbd0ebd3adfcaf9
2020-03-11 11:17:58 -07:00
Jeremy Reizenstein
e491efb81f lint things
Summary:
Lint related fixes: Improve internal/OSS consistency. Fix the fight between black and certain pyre-ignore markers by moving them to the line before.
Use clang-format-8 automatically if present. Small number of pyre fixes.

arc doesn't run pyre at the moment, so I put back the explicit call to pyre. I don't know if there's an option somewhere to change this.

Reviewed By: nikhilaravi

Differential Revision: D19780518

fbshipit-source-id: ef1c243392322fa074130f6cff2dd8a6f7738a7f
2020-02-21 05:05:06 -08:00
Nikhila Ravi
8301163d24 transforms 3d convention fix
Summary: Fixed the rotation matrices generated by the RotateAxisAngle class and updated the tests. Added documentation for Transforms3d to clarify the conventions.

Reviewed By: gkioxari

Differential Revision: D19912903

fbshipit-source-id: c64926ce4e1381b145811557c32b73663d6d92d1
2020-02-19 10:32:44 -08:00
Jeremy Reizenstein
23bb27956a remove print statements
Reviewed By: gkioxari

Differential Revision: D19834684

fbshipit-source-id: 553dbf84d1062149b4915d313fc0f96eb047798c
2020-02-11 15:16:15 -08:00
facebook-github-bot
dbf06b504b Initial commit
fbshipit-source-id: ad58e416e3ceeca85fae0583308968d04e78fe0d
2020-01-23 11:53:46 -08:00