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
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
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
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
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
Summary:
These two tests fail (with non-small differences) when the seed is changed or if certain environmental changes are made. We disable them pending investigation.
A small change to the tolerance at the failing assertion doesn't help. The change in common_testing helps diagnose this.
Reviewed By: shapovalov
Differential Revision: D26233419
fbshipit-source-id: 357afc1786825256c9bade101fb15707e4dea5ed
Summary: Corner case where there's nothing to do in this function.
Reviewed By: nikhilaravi
Differential Revision: D26073476
fbshipit-source-id: eb061683ffe35c1ffa8384c422a1557a636d52cd
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
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
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
Summary: Make `to` on Transform3D carry its member _transforms.
Reviewed By: nikhilaravi
Differential Revision: D25978611
fbshipit-source-id: 12b39e7a657f28d59ca60800bf9f4193a2c08197
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
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
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
Summary: Implemented a data structure for volumes.
Reviewed By: gkioxari
Differential Revision: D20342920
fbshipit-source-id: ccc23eaa183ed8a4e9cd7674b4dcf31e8a65c3c6
Summary: Extends `list_to_padded`/`padded_to_list` to work for tensors with an arbitrary number of input dimensions.
Reviewed By: nikhilaravi, gkioxari
Differential Revision: D23813969
fbshipit-source-id: 52c212a2ecdb3c4dfb6ac47217715e07998f37f1
Summary:
Make no internal functions inside pytorch3d/io interpret str paths except using a PathManager from iopath which they have been given. This means we no longer use any global PathManager object and we no longer use fvcore's deprecated file_io.
To preserve the APIs, various top level functions create their own default-initialized PathManager object if they are not provided one.
Reviewed By: theschnitz
Differential Revision: D25372969
fbshipit-source-id: c176ee31439645fa54a157d6f1aef18b09501569
Summary: Allowing usort, isort and black to coexist without fighting means we can't have imports commented as deprecated from the same module as other imports.
Reviewed By: nikhilaravi
Differential Revision: D25372970
fbshipit-source-id: 637f5a0025c0df9fbec47cba73ce5387f4f8b467
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
Summary: Fixes the index out of bound errors for texture sampling from a texture atlas: when barycentric coordinates are 1.0, the integer index into the (R, R) per face texture map is R (max can only be R-1).
Reviewed By: gkioxari
Differential Revision: D25543803
fbshipit-source-id: 82d0935b981352b49c1d95d5a17f9cc88bad0a82
Summary:
Similar to non square image rasterization for meshes, apply the same updates to the pointcloud rasterizer.
Main API Change:
- PointRasterizationSettings now accepts a tuple/list of (H, W) for the image size.
Reviewed By: jcjohnson
Differential Revision: D25465206
fbshipit-source-id: 7370d83c431af1b972158cecae19d82364623380
Summary: Add `return self` to the `to` function for the renderer classes.
Reviewed By: bottler
Differential Revision: D25534487
fbshipit-source-id: e8dbd35524f0bd40e835439e93184b5a1f1532ca
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
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
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
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
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
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
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
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
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
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
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
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
Summary:
Small fix and updated tests for multigpu rendering case.
This resolves the issue seen in: https://github.com/facebookresearch/pytorch3d/issues/401
Reviewed By: gkioxari
Differential Revision: D24314681
fbshipit-source-id: 84c5a5359844c77518b48044001daa9a86f3c43a
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
Summary:
Fix for GitHub issue #381.
The example mesh provided in the issue only had material properties but no texture image. The current implementation of texture atlassing generated an atlas using both the material properties and the texture image but only worked if there was a texture image and associated vertex uv coordinates. I have now modified the texture atlas creation so that it doesn't require an image and can work with materials which only have material properties.
Reviewed By: gkioxari
Differential Revision: D24153068
fbshipit-source-id: 63e9d325db09a84b336b83369d5342ce588a9932
