289 Commits

Author SHA1 Message Date
Daisy
5241b7dd4e Handle header has no newline or space after OFF. (#665)
Summary:
Allow a line like `OFF10 10 10` as the start of an OFF file. Such things apparently occur in ModelNet40.

This resolves https://github.com/facebookresearch/pytorch3d/issues/663.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/665

Test Plan: New test

Reviewed By: nikhilaravi

Differential Revision: D28180006

Pulled By: bottler

fbshipit-source-id: 7f474c6a262e32da012217e09f76e8672a7f0278
2021-05-07 05:01:58 -07:00
Gil Moshayof
34163326b2 Make extend respect subclasses of textures
Summary: 3 extend functions in textures.py updated to call `self.__class__` rather than create a new object of its type. As mentioned in https://github.com/facebookresearch/pytorch3d/issues/618 .

Reviewed By: bottler

Differential Revision: D28281218

fbshipit-source-id: b9c99ab87e46a3f28c37efa1ee2c2dceb560b491
2021-05-07 03:42:45 -07:00
Jeremy Reizenstein
6fa66f5534 PLY load normals
Summary: Add ability to load normals when they are present in a PLY file.

Reviewed By: nikhilaravi

Differential Revision: D26458971

fbshipit-source-id: 658270b611f7624eab4f5f62ff438038e1d25723
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
b314beeda1 save normals from Meshes, Pointclouds to PLY
Summary: Save existing vertex normals when a mesh is saved to PLY, and existing normals when a point cloud is saved to PLY.

Reviewed By: theschnitz

Differential Revision: D27765257

fbshipit-source-id: fa0aae4c0f100f7e5eb742f48fc3dfc87435deba
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
66b97a0c28 has_verts_normals for Meshes
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
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
2bbca5f2a7 Allow setting verts_normals on Meshes
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
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
502f15aca7 avoid recalculating normals for simple move
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
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
17633808d8 Scale leaves verts normals unchanged
Summary:
There is no need to recalculate normals when scaling a mesh by a constant. We omit doing this for vertex normals. This will make things less confusing when we allow user-specified vertex normals.

Face normals also don't need recalculating, but they are calculated at the same time as face areas which do, so it is easiest not to change their behavior here. That is convenient because we are not immediately planning to allow user-specified face normals.

Reviewed By: nikhilaravi

Differential Revision: D27793476

fbshipit-source-id: 827f1be4bc78bf0391ce3959cce48c4f3ee326fe
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
e9f4e0d086 PLY color scaling
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
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
6c3fe952d1 PLY TexturesVertex loading
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
2021-05-04 05:36:51 -07:00
Jeremy Reizenstein
b538f10796 Avoid temporary arrays in _check_density_bounds
Summary: We can check the bounds without using extra memory. This produces a small speedup in NeRF training (like 0.5%).

Reviewed By: nikhilaravi

Differential Revision: D27859691

fbshipit-source-id: d566420c465f51231f4a57438084c98b73253046
2021-04-22 07:09:43 -07:00
Pyre Bot Jr
04d318d88f suppress errors in vision/fair/pytorch3d
Differential Revision: D27934268

fbshipit-source-id: 51185fa493451012a9b2fd37379897d60596f73b
2021-04-21 23:28:04 -07:00
JudyYe
eb04a488c5 TexturesVertex._num_verts_per_mesh deep copy (#623)
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
2021-04-20 03:11:34 -07:00
Wanchao Liang
8660db9806 Remove some pyre fixmes
Reviewed By: divchenko

Differential Revision: D27835360

fbshipit-source-id: cbb23793ee57382e43bd65bd40cfeb2820c6eec2
2021-04-17 11:20:11 -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
David Novotny
7c0d307142 Implicit function docfix
Summary: Fixes implicit function doc.

Reviewed By: theschnitz, nikhilaravi

Differential Revision: D26870946

fbshipit-source-id: 5d03ebbc284153c41b9d6695b28c8b4e11bc0a5c
2021-04-08 07:44:34 -07:00
Jeremy Reizenstein
cc08c6b288 CI fixes
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
2021-03-23 14:25:25 -07:00
Jeremy Reizenstein
8e1bcd5568 Tidy comments around imports
Summary: Make black and isort stop disagreeing by removing some unneeded comments around import statements. pyre ignores are moved.

Reviewed By: theschnitz

Differential Revision: D27118137

fbshipit-source-id: 9926d0f21142adcf9b5cfe1d394754317f6386df
2021-03-17 09:26:33 -07:00
Jeremy Reizenstein
1b6182bac2 Plotly subsampling fix
Summary: When viewing two or more pointclouds in a single plot, we should be subsampling each one separately rather than subsampling their union.

Reviewed By: nikhilaravi

Differential Revision: D27010770

fbshipit-source-id: 3c7e04a6049edd39756047f985d5a82c2601b3a2
2021-03-16 12:36:22 -07:00
Nikhila Ravi
4bb3fff52b pulsar image size bug fix
Summary: Small change to swap how height/width are inferred from the image_size setting.

Reviewed By: gkioxari

Differential Revision: D26648340

fbshipit-source-id: 2c657a115c96cadf3ac63be87b0e1bfba10c9315
2021-02-26 09:09:08 -08:00
generatedunixname89002005307016
9c161d1d04 suppress errors in vision/fair/pytorch3d
Differential Revision: D26658196

fbshipit-source-id: f38950ace2ff95ad1170a0d8acd5420bcb6dd4b7
2021-02-24 21:52:12 -08:00
Nikhila Ravi
13429640d3 Bug fix for case where aspect ratio is a float
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
2021-02-24 10:07:17 -08:00
Jeremy Reizenstein
0345f860d4 Loading/saving meshes to OFF files.
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
2021-02-12 07:05:55 -08:00
Jeremy Reizenstein
4bfe7158b1 mesh_normal_consistency speedup
Summary: One step in finding all the pairs of vertices which share faces is a simple calculation but annoying to parallelize. It was implemented in pure Python. We move it to C++. We still pull the data to the CPU and put the answer back on the device.

Reviewed By: nikhilaravi, gkioxari

Differential Revision: D26073475

fbshipit-source-id: ffbf4e2c347a511ab5084bceff600465812b6a52
2021-02-11 13:56:17 -08:00
Jeremy Reizenstein
5ac2f42184 test & compilation fixes
Summary:
Fixes mostly related to the "main" build on circleci.
-Avoid error to do with tuple copy from initializer_list which is `explicit` on old compiler.
-Add better reporting to copyright test.
-Move to PackedTensorAccessor64 from the deprecated PackedTensorAccessor
-Avoid some warnings about mismatched comparisons.

The "main" build is the only one that runs the test_build stuff. In that area
-Fix my bad copyright fix D26275931 (3463f418b8) / 965c9c
-Add test that all tutorials are valid json.

Reviewed By: nikhilaravi

Differential Revision: D26366466

fbshipit-source-id: c4ab8b7e6647987069f7cb7144aa6ab7c24bcdac
2021-02-11 11:06:08 -08:00
Shubham Goel
e13e63a811 bugfix in cotcurv laplacian loss. closes #551 (#553)
Summary: Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/553

Reviewed By: theschnitz

Differential Revision: D26257591

Pulled By: gkioxari

fbshipit-source-id: 899a3f733a77361e8572b0900a34b55764ff08f2
2021-02-10 21:23:17 -08:00
Jeremy Reizenstein
3c15a6c246 version number for 0.4.0
Summary: Update PyTorch3D version number

Reviewed By: nikhilaravi

Differential Revision: D26257778

fbshipit-source-id: 62a37669c51ec56d21f71b5619a1a821ae2a8e98
2021-02-09 04:33:09 -08:00
Nikhila Ravi
340662e98e CUDA/C++ Rasterizer updates to handle clipped faces
Summary:
- Updated the C++/CUDA mesh rasterization kernels to handle the clipped faces. In particular this required careful handling of the distance calculation for faces which are cut into a quadrilateral by the image plane and then split into two sub triangles i.e. both sub triangles can't be part of the top K faces.
- Updated `rasterize_meshes.py` to use the utils functions to clip the meshes and convert the fragments back to in terms of the unclipped mesh
- Added end to end tests

Reviewed By: jcjohnson

Differential Revision: D26169685

fbshipit-source-id: d64cd0d656109b965f44a35c301b7c81f451cfa0
2021-02-08 14:32:39 -08:00
Nikhila Ravi
838b73d3b6 Updates to cameras and rasterizer to infer camera type correctly
Summary: Small update to the cameras and rasterizer to correctly infer the type of camera (perspective vs orthographic).

Reviewed By: jcjohnson

Differential Revision: D26267225

fbshipit-source-id: a58ed3bc2ab25553d2a4307c734204c1d41b5176
2021-02-08 14:32:39 -08:00
Nikhila Ravi
39f49c22cd Utils for converting rasterization fragments of clipped meshes back to unclipped
Summary:
This diff adds utils functions for converting rasterization fragments of the clipped mesh into fragments expressed in terms of the original unclipped mesh.

The face indices and barycentric coordinates are converted in this step. The pixel to triangle distances are handled in the rasterizer which is updated in the next diff in the stack.

Reviewed By: jcjohnson

Differential Revision: D26169539

fbshipit-source-id: ba451d3facd60ef88a8ffaf25fd04ca07b449ceb
2021-02-08 14:32:39 -08:00
Nikhila Ravi
23279c5f1d Utils for clipping mesh faces partially behind the image plane
Summary:
Instead of culling faces behind the camera, partially clip them if they intersect with the image plane.

This diff implements the utils functions for clipping.

There are 4 cases for the mesh faces which are all handled:

```
Case 1: the triangle is completely in front of the clipping plane (it is left
        unchanged)
Case 2: the triangle is completely behind the clipping plane (it is culled)
Case 3: the triangle has exactly two vertices behind the clipping plane (it is
        clipped into a smaller triangle)
Case 4: the triangle has exactly one vertex behind the clipping plane (it is clipped
        into a smaller quadrilateral and divided into two triangular faces)
```

Reviewed By: jcjohnson

Differential Revision: D23108673

fbshipit-source-id: 550a8b6a982d06065dff10aba10d47e8b144ae52
2021-02-05 18:30:15 -08:00
Edgar Riba
f4f3d403f3 fixes docstring rendering in estimate_normals (#530)
Summary:
adds missing spaces in the `estimate_normals` docstrings

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/530

Reviewed By: bottler

Differential Revision: D26008667

Pulled By: nikhilaravi

fbshipit-source-id: 88cccd7e777fa2df0aea15c087db9e7fb634d93f
2021-02-01 18:39:10 -08:00
Jeremy Reizenstein
e42b0c4f70 Mesh normal consistency when no faces intersect
Summary: Corner case where there's nothing to do in this function.

Reviewed By: nikhilaravi

Differential Revision: D26073476

fbshipit-source-id: eb061683ffe35c1ffa8384c422a1557a636d52cd
2021-01-27 17:32:16 -08:00
Jeremy Reizenstein
7f62eacdb2 Mesh normal consistency when many faces intersect
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
2021-01-27 17:32:16 -08:00
Jeremy Reizenstein
d173a2f8da textures device consistency
Summary: Ensure that `mesh2 = mesh.to(device)` doesn't change the device of `mesh.textures`.

Reviewed By: nikhilaravi

Differential Revision: D25978610

fbshipit-source-id: 0558cd62132965d8693ebeea05e42b8c1d16cfbf
2021-01-25 06:09:56 -08:00
Penn
e58a730e6a Fix dimension check (#524)
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
2021-01-22 11:05:18 -08:00
Jeremy Reizenstein
8eba1684cb Up vector for plotly
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
2021-01-22 07:33:31 -08:00
Jeremy Reizenstein
cf9bb7c48c (eye, at, up) extraction function
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
2021-01-22 07:33:31 -08:00
Jeremy Reizenstein
ddebdfbcd7 Allow single offset in offset_verts
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
2021-01-22 07:33:31 -08:00
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
Jeremy Reizenstein
4711665edb lint
Summary: Fix recent lint.

Reviewed By: nikhilaravi

Differential Revision: D25900168

fbshipit-source-id: 6b6e8d35b68c8415ef305dc4719f43eda9316c8f
2021-01-20 13:08:35 -08:00
Christoph Lassner
154ace4ba4 Fix #501.
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
2021-01-19 19:28:35 -08:00
Jeremy Reizenstein
95707fba1c PLY pointcloud loading
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
2021-01-07 15:40:11 -08:00
Jeremy Reizenstein
3b9fbfc08c Read heterogenous nonlist PLY properties as arrays
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
2021-01-07 15:40:11 -08:00
Jeremy Reizenstein
89532a876e add existing mesh formats to pluggable
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
2021-01-07 15:40:11 -08:00
Jeremy Reizenstein
b183dcb6e8 skeleton of pluggable IO
Summary: Unified interface for loading and saving meshes and pointclouds.

Reviewed By: nikhilaravi

Differential Revision: D25372968

fbshipit-source-id: 6fe57cc3704a89d81d13e959bee707b0c7b57d3b
2021-01-07 15:40:11 -08:00
David Novotny
b466c381da Implicit/Volume renderer
Summary: Implements the `ImplicitRenderer` and `VolumeRenderer`.

Reviewed By: gkioxari

Differential Revision: D24418791

fbshipit-source-id: 127f21186d8e210895db1dcd0681f09f230d81a4
2021-01-06 06:23:48 -08:00
David Novotny
e6bc960fb5 Raysampling
Summary: Implements 3 basic raysamplers.

Reviewed By: nikhilaravi

Differential Revision: D24110643

fbshipit-source-id: eb67d0e56773c7871ebdcb23e7e520302dc1b3c9
2021-01-06 04:01:29 -08:00
generatedunixname89002005307016
1f9cf91e1b suppress errors in vision/fair/pytorch3d
Differential Revision: D25781183

fbshipit-source-id: e27808a4c2b94bba205756001cb909827182b592
2021-01-05 05:28:14 -08:00
David Novotny
1af1a36bd6 Raymarching
Summary: Implements two basic raymarchers.

Reviewed By: gkioxari

Differential Revision: D24064250

fbshipit-source-id: 18071bd039995336b7410caa403ea29fafb5c66f
2021-01-05 03:59:20 -08:00