318 Commits

Author SHA1 Message Date
Jeremy Reizenstein
d6412c94dc CUB conda instructions
Summary: We have already uploaded a conda package of the cub 1.10.0 sources to our channel on anaconda. Here is the code we used.

Reviewed By: nikhilaravi

Differential Revision: D25395358

fbshipit-source-id: b58fd473fcafd425c98c9d7a7c32574f651383a0
2020-12-10 09:47:56 -08:00
Nikhila Ravi
d07307a451 Non square image rasterization for meshes
Summary:
There are a couple of options for supporting non square images:
1) NDC stays at [-1, 1] in both directions with the distance calculations all modified by (W/H). There are a lot of distance based calculations (e.g. triangle areas for barycentric coordinates etc) so this requires changes in many places.
2) NDC is scaled by (W/H) so the smallest side has [-1, 1]. In this case none of the distance calculations need to be updated and only the pixel to NDC calculation needs to be modified.

I decided to go with option 2 after trying option 1!

API Changes:
- Image size can now be specified optionally as a tuple

TODO:
- add a benchmark test for the non square case.

Reviewed By: jcjohnson

Differential Revision: D24404975

fbshipit-source-id: 545efb67c822d748ec35999b35762bce58db2cf4
2020-12-09 09:18:11 -08:00
Jeremy Reizenstein
0216e4689a Slow pull from docker
Summary: The "manual" docker pull in the testrun builds has been taking more than 10 minutes recently, and its lack of output causes circleci to timeout. As a quick fix, we enable the output from this operation.

Reviewed By: gkioxari

Differential Revision: D25305127

fbshipit-source-id: 19682bfa0294145457a37df6d6faf7a08dcc63c9
2020-12-03 12:34:17 -08:00
generatedunixname89002005287564
a0cd2506f6 Daily arc lint --take BLACK
Reviewed By: zertosh

Differential Revision: D25241045

fbshipit-source-id: c3a1e1e02ef557b1e82cb672e987e05016e246fd
2020-12-01 04:19:28 -08:00
Georgia Gkioxari
112959e087 taubin smoothing
Summary: Taubin Smoothing for filtering meshes and making them smoother. Taubin smoothing is an iterative approach.

Reviewed By: nikhilaravi

Differential Revision: D24751149

fbshipit-source-id: fb779e955f1a1f6750e704f1b4c6dfa37aebac1a
2020-11-30 11:38:04 -08:00
Amitav Baruah
fc7a4cacc3 Fix plotly pointcloud visualization feature bug
Summary: If a pointcloud had less than pointcloud_max_points, the colors would not render. This diff fixes that.

Reviewed By: bottler

Differential Revision: D25099044

fbshipit-source-id: 47c3ddcdb4e06284b0a7966ffca1b973f394921f
2020-11-19 13:52:46 -08:00
Amitav Baruah
6c2fc685de Update subplot arrangement to support non-uniform grids
Summary: Previously, grids where the columns don't divide the number of plots evenly would error. Now, there'll just be a sparse last row.

Reviewed By: bottler

Differential Revision: D25069236

fbshipit-source-id: 9d2fd62f3d39bfebc07ce0a41718621fa69d6057
2020-11-18 15:47:01 -08:00
Georgia Gkioxari
5fb63b4520 move icp_data.pth to tests/data
Summary: Move icp_data.pth to tests/data

Reviewed By: bottler

Differential Revision: D25012575

fbshipit-source-id: 9252d2eeca9141c82ad3bf9d3e3331a2eab5203b
2020-11-18 14:07:12 -08:00
Nikhila Ravi
ddb0b1b652 small update to website generation script
Summary: Small fix in website generation script.

Reviewed By: bottler

Differential Revision: D24893286

fbshipit-source-id: 5afbe05d749914788917a3834cf32e2f48bb4765
2020-11-11 16:50:34 -08:00
Christoph Lassner
faed5405c8 Fix #442.
Summary: This fixed #442 by declaring two math functions to be device-only.

Reviewed By: bottler

Differential Revision: D24896992

fbshipit-source-id: a15918d06d2a3e6ee5cf250fec7af5f2f50a6164
2020-11-11 14:06:21 -08:00
Jeremy Reizenstein
18ce14cd31 version number for 0.3.0
Reviewed By: nikhilaravi

Differential Revision: D24390049

fbshipit-source-id: d86ba8dd933bce18e65ae71b3ea42426838b8fc2
v0.3.0
2020-11-11 10:05:53 -08:00
Nikhila Ravi
5059be2a83 website and README updates
Summary: Small updates to the website setup before the website is updated

Reviewed By: bottler

Differential Revision: D24880351

fbshipit-source-id: 5c40664ad1ca3dd9f4fc746b239a82d47ed3a8e6
2020-11-11 09:45:06 -08:00
John Reese
90f1d5c258 apply pyfmt with usort to opted-in sources
Reviewed By: zertosh

Differential Revision: D24880203

fbshipit-source-id: 2034cdfc2712209e86d3d05c119c58f979b05c52
2020-11-10 21:27:01 -08:00
Jeremy Reizenstein
4296fd96c5 curl needs -L
Summary: As mentioned in a comment on https://github.com/facebookresearch/pytorch3d/issues/438, curl must be told to follow redirects.

Reviewed By: nikhilaravi

Differential Revision: D24870138

fbshipit-source-id: 0c8aeb5146f8699bcea03d4108276fc24e9eab6b
2020-11-10 16:35:42 -08:00
Jeremy Reizenstein
47fafe2cce Remove installation instructions from tutorial website.
Summary: Now installation is a bit complicated, remove this instruction from the website and redirect to the notebooks themselves.

Reviewed By: nikhilaravi

Differential Revision: D24860588

fbshipit-source-id: 3bf1af3cdb69b564492fb01a5a5ba40203f3858e
2020-11-10 13:06:08 -08:00
Jeremy Reizenstein
de7af4a704 CUB when installing inside tutorials
Summary:
We now require CUB for building, here we make the tutorials include it.

Also make the installation cell do nothing if it has already succeeded.

I use curl not wget, and `os.environ` to set the variables not shell methods, because they are more likely to work on Windows.

Reviewed By: nikhilaravi

Differential Revision: D24860574

fbshipit-source-id: 5be86af15e53f8db016ee0e96fb43153bd69adbc
2020-11-10 13:06:08 -08:00
Christoph Lassner
fb2763dc78 Fix flaky CircleCI test.
Summary: This fixes issues with `pulsar.test.TestDepth` that we are encountering on CircleCI. The ID equality test is removed, which seems to give different results on different hardware (which is okay, because the exact order of spheres can slightly vary if they're close due to numerical instabilities). The depth map validity test stays in place.

Reviewed By: bottler

Differential Revision: D24840776

fbshipit-source-id: 2f38ea4880abf202c84d2987fdd71a84c5ef3b05
2020-11-10 10:14:17 -08:00
Jeremy Reizenstein
aefe2b9f0d CUB installation instructions
Summary: Make it easy to have CUB available for building

Reviewed By: nikhilaravi

Differential Revision: D24773722

fbshipit-source-id: 8759bef6ded4989088189685b2a615c97e5f8b99
2020-11-10 09:38:05 -08:00
Jeremy Reizenstein
d220ee2f66 pulsar build and CI changes
Summary:
Changes to CI and some minor fixes now that pulsar is part of pytorch3d. Most significantly, add CUB to CI builds.

Make CUB_HOME override the CUB already in cudatoolkit (important for cuda11.0 which uses cub 1.9.9 which pulsar doesn't work well with.
Make imageio available for testing.
Lint fixes.
Fix some test verbosity.
Avoid use of atomicAdd_block on older GPUs.

Reviewed By: nikhilaravi, classner

Differential Revision: D24773716

fbshipit-source-id: 2428356bb2e62735f2bc0c15cbe4cff35b1b24b8
2020-11-10 09:38:05 -08:00
Dave Schnizlein
804235b05a Remove point mesh edge kernels
Summary:
Removes the now-unnecessary kernels from point mesh edge file

Migrates all point mesh functionality into one file.

Reviewed By: gkioxari

Differential Revision: D24550086

fbshipit-source-id: f924996cd38a7c2c1cf189d8a01611de4506cfa3
2020-11-10 09:34:16 -08:00
Dave Schnizlein
8dcfe30f66 Consolidate mesh backward kernels
Summary: This diff creates the generic MeshBackwardKernel which can handle distance calculations between point, edge and faces in either direction. Replaces only point_mesh_face code for now.

Reviewed By: gkioxari

Differential Revision: D24549374

fbshipit-source-id: 2853c1da1c2a6b6de8d0e40007ba0735b8959044
2020-11-10 09:34:16 -08:00
Dave Schnizlein
c41aff23f0 Consolidate point mesh forward kernels
Summary: This diff creates the generic MeshForwardKernel which can handle distance calculations between point, edge and faces in either direction. Replaces only point_mesh_face code for now.

Reviewed By: gkioxari

Differential Revision: D24543316

fbshipit-source-id: 302707d7cec2d77a899738adf40481035c240da8
2020-11-10 09:34:16 -08:00
Christoph Lassner
194b29fb6c Fix #431.
Summary: Added missing include for cstdint for Windows and removed problematic inline assembly.

Reviewed By: bottler

Differential Revision: D24838053

fbshipit-source-id: 95496be841c2c22a82068073d4740e98ee8a02ac
2020-11-09 13:25:09 -08:00
Dave Schnizlein
83fef0a576 Add MeshRendererWithFragments class to also return fragments after rendering
Summary: Users want to be able to obtain the depth from the renderer. Current work-around requires running the rasterizer and extra time. This change creates a new renderer class that also returns the fragments from the rasterizer.

Reviewed By: nikhilaravi

Differential Revision: D24432381

fbshipit-source-id: 6552e8a6bfee646791afb34bdb7452fbc4094aed
2020-11-05 09:20:01 -08:00
Christoph Lassner
b6be3b95fb Example and test updates.
Summary: This commit performs pulsar example and test refinements. The examples are fully adjusted to adhere to PEP style guide and additional comments are added.

Reviewed By: nikhilaravi

Differential Revision: D24723391

fbshipit-source-id: 6d289006f080140159731e7f3a8c98b582164f1a
2020-11-04 09:54:17 -08:00
Jeremy Reizenstein
e9a26f263a Restrict import of ops from Pointclouds
Summary: Move to a local import for calculating pointcloud normals, similar to _compute_face_areas_normals on Meshes.

Reviewed By: theschnitz

Differential Revision: D24695260

fbshipit-source-id: 9e1eb5d15017975b8c4f4175690cc3654f38d9a4
2020-11-04 04:00:25 -08:00
Christoph Lassner
039e02601d examples and docs.
Summary: This diff updates the documentation and tutorials with information about the new pulsar backend. 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.

Reviewed By: nikhilaravi

Differential Revision: D24498129

fbshipit-source-id: e312b0169a72b13590df6e4db36bfe6190d742f9
2020-11-03 13:06:35 -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
d565032399 Docker authentication
Summary: To avoid docker's new ratelimiting, we sign in.

Reviewed By: theschnitz

Differential Revision: D24681688

fbshipit-source-id: 6bb1a86ee15a151758e8a2bdb081da280308ad0c
2020-11-02 11:30:07 -08:00
Nikhila Ravi
3b035f57f0 Update README with contributors and new tutorials
Summary:
Updated the README with:
- Contributor list
- News updates
- New tutorial links

Reviewed By: gkioxari

Differential Revision: D24412028

fbshipit-source-id: 0c4ba9ebe16a7a4728801356a9271ff152282686
2020-10-30 10:31:50 -07:00
Dave Schnizlein
36fb257ef1 Update cameras to accept projection matrix as input
Summary: To initialize the Cameras class currently we require the principal point, focal length and other parameters to be specified from which we calculate the intrinsic matrix. In some cases the matrix might be directly available e.g. from a dataset and the associated metadata for an image.

Reviewed By: nikhilaravi

Differential Revision: D24489509

fbshipit-source-id: 1b411f19c5f6c8074bcfbf613f3339d5e242c119
2020-10-30 08:53:14 -07:00
Jeremy Reizenstein
6f4697bc1b pytorch 1.7 support
Summary: CircleCI build configuration to support pytorch1.7, including binaries with cuda 11.0. Note that the default torch on pip is still on cuda 10.2, so I have left the `main` (non conda build) on cuda 10.2 with the existing driver.

Reviewed By: gkioxari

Differential Revision: D24623523

fbshipit-source-id: 59cfa1be06c16225f0f12ed336c07220e8a9a511
2020-10-29 12:20:54 -07:00
Jeremy Reizenstein
fdcf368708 import vis parts separately
Summary: We envision `pytorch3d.vis` to contain submodules with different dependencies. Allow (and require) them to be imported independently.

Reviewed By: theschnitz

Differential Revision: D24622519

fbshipit-source-id: 44840f70f5fd2bd410405bf09546024e48238744
2020-10-29 10:16:43 -07:00
Jeremy Reizenstein
0e5f4f7660 remove texture_vis test
Summary: This recently added test is sensitive to the version of PIL because of different algorithms to draw ellipses/circles. Remove it as there is no obvious safe way to test this. Replace with a test for the underlying centres_for_image().

Reviewed By: theschnitz

Differential Revision: D24622465

fbshipit-source-id: e46d7384df491c71ac87ba8bbbce89507ac40080
2020-10-29 10:16:42 -07:00
Jeremy Reizenstein
aa4cc0adbc images for debugging TexturesUV
Summary: New methods to directly plot a TexturesUV map with its used points, using PIL and matplotlib.

Reviewed By: gkioxari

Differential Revision: D23782968

fbshipit-source-id: 692970857b5be13a35a3175dc82ac03963a73555
2020-10-27 10:10:05 -07:00
Jeremy Reizenstein
b149bbfb3c script to run tutorials
Summary: Script to execute tutorials inside docker with the nightly build.

Reviewed By: nikhilaravi

Differential Revision: D24503200

fbshipit-source-id: cfa010a7750627d4e87d224a112ff77952feeb55
2020-10-26 11:30:06 -07:00
Amitav Baruah
2084160b16 Remove duplicate imports in DensePose tutorial
Summary: We were importing torch, torchvision, PyTorch3D, and sys twice. This is just removing the duplicate (unneeded) imports

Reviewed By: theschnitz

Differential Revision: D24479270

fbshipit-source-id: 1048732f65242eb776c3eef537cb1ae58815c1eb
2020-10-22 12:10:40 -07:00
Shubham Jain
4d8f132a78 Texture UV Documentation Correction (#409)
Summary: Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/409

Reviewed By: bottler

Differential Revision: D24478451

Pulled By: nikhilaravi

fbshipit-source-id: 933d6f7a02a3118ee30ecda045fd9f62a7df1176
2020-10-22 11:39:47 -07:00
gmanasi
e7d7fad1e8 Update LICENSE name to BSD 3-Clause License. (#310)
Summary:
The README for the project refers to the BSD 3-Clause License, but the License file has only BSD License as the name. Updated the License name to BSD 3-Clause License for correct reference.

License files are an important part of source code and should not have errors. This helps developers to correctly reference the license when integrating the source code within their applications.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/310

Reviewed By: theschnitz

Differential Revision: D24220599

Pulled By: nikhilaravi

fbshipit-source-id: 657bde0abe946e95864fc048eb930a91ddf08b99
2020-10-22 08:59:59 -07:00
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
Amitav Baruah
005a334f99 Render PyTorch3d cameras in plotly
Summary: Take in a renderer with camera(s) and render the cameras as wireframes in the corresponding plotly plots

Reviewed By: nikhilaravi

Differential Revision: D24151706

fbshipit-source-id: f8e86d61f3d991500bafc0533738c79b96bda630
2020-10-20 17:16:17 -07:00
Amitav Baruah
035109675e Render plotly plot from PyTorch3D renderer POV
Summary:
Use a provided renderer's camera positions to render a plotly plot to match what the renderer would render for pointclouds and meshes.
- takes in a Cameras object for viewpoints
- for each subplot, will index into the Cameras object (or use the Cameras object, if len(viewpoint_cameras) == 1 and use the Cameras' eye and at vectors to set plotly's camera's corresponding values, the eye and center values.

Reviewed By: nikhilaravi

Differential Revision: D24094934

fbshipit-source-id: 48abcdb04c6909a172ba9f721522c3446952a089
2020-10-20 17:16:17 -07:00
Amitav Baruah
3d1863ce6f Update tutorials to reflect plotly refactor
Summary: Change the two affected tutorials to use plot_scene and plot_batch_individually.

Reviewed By: nikhilaravi

Differential Revision: D24235480

fbshipit-source-id: ca9d73bfb7ccf733efaf16299c15927406d7f2aa
2020-10-20 17:16:17 -07:00
Amitav Baruah
bf7aca320a Add wrapper function to plot batches
Summary:
- adds plot_batch_individually
- for each batched object, plots each object in its own subplot with other same-indexed elements of the other batched objects provided as input

Reviewed By: nikhilaravi

Differential Revision: D24258389

fbshipit-source-id: a80128e6e7a03a44c257b0598569159afadb2d39
2020-10-20 17:16:17 -07:00
Amitav Baruah
964893cdcb Refactor plot_meshes and plot_pointclouds to one generalizable API, plot_scene
Summary: Defines a function plot_scene that takes in a dictionary defining subplot and trace layouts for Mesh/Pointcloud objects and plots them. Also supports other plotly axis arguments and mesh lighting. Plot_batch_individually is a wrapper function that takes in one or multiple batched Meshes/Pointclouds and uses plot_scene to plot each element within a batch in an individual subplot, possibly sharing that subplot with traces of other individual elements of the other batched structures passed in.

Reviewed By: nikhilaravi

Differential Revision: D24235479

fbshipit-source-id: 9f669f1b186d55fe5c75552083316c0cf1387472
2020-10-20 17:16:17 -07:00
Jeremy Reizenstein
abd390319c Reshape for faces_packed_to_edges_packed
Summary:
As pointed out in #328, we had an indexing operation where a reshape would do and be faster. The resulting faces_packed_to_edges_packed is no longer contiguous.

Also fix a use of faces_packed_to_edges_packed which might modify the object unintentionally.

Reviewed By: theschnitz

Differential Revision: D24390292

fbshipit-source-id: 225677d8fcc1d6b76efad7706718ecdb5182ffe1
2020-10-20 13:47:48 -07:00
Nikhila Ravi
4cfac7c79c Add images for new tutorials
Summary: Added images for four tutorials to add to the README.

Reviewed By: gkioxari

Differential Revision: D24411993

fbshipit-source-id: 5f0b2256efb156b5956013c26b8ddb1631bd1c46
2020-10-20 09:14:11 -07:00
Jeremy Reizenstein
30e4e891db linter comment strictnesss
Summary: The linter has become stricter about the indenting of comments and docstrings. This was accompanied by a codemod. In a few places we can fix the problem nicer than the codemod has.

Reviewed By: gkioxari

Differential Revision: D24363880

fbshipit-source-id: 4cff3bbe3d2a834bc92a490469a2b24fa376e6ab
2020-10-18 02:38:59 -07:00