mirror of
https://github.com/facebookresearch/pytorch3d.git
synced 2025-08-02 03:42:50 +08:00
cc70950f40
Summary: Added support for barycentric clipping in the C++/CUDA rasterization kernels which can be switched on/off via a rasterization setting. Added tests and a benchmark to compare with the current implementation in PyTorch - for some cases of large image size/faces per pixel the cuda version is 10x faster. Reviewed By: gkioxari Differential Revision: D21705503 fbshipit-source-id: e835c0f927f1e5088ca89020aef5ff27ac3a8769
449 lines
17 KiB
Python
449 lines
17 KiB
Python
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
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"""
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Sanity checks for output images from the renderer.
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"""
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import unittest
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from pathlib import Path
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import numpy as np
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import torch
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from common_testing import TestCaseMixin, load_rgb_image
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from PIL import Image
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from pytorch3d.io import load_objs_as_meshes
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from pytorch3d.renderer.cameras import OpenGLPerspectiveCameras, look_at_view_transform
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from pytorch3d.renderer.lighting import PointLights
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from pytorch3d.renderer.materials import Materials
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from pytorch3d.renderer.mesh.rasterizer import MeshRasterizer, RasterizationSettings
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from pytorch3d.renderer.mesh.renderer import MeshRenderer
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from pytorch3d.renderer.mesh.shader import (
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BlendParams,
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HardFlatShader,
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HardGouraudShader,
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HardPhongShader,
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SoftSilhouetteShader,
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TexturedSoftPhongShader,
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)
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from pytorch3d.renderer.mesh.texturing import Textures
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from pytorch3d.structures.meshes import Meshes, join_mesh
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from pytorch3d.utils.ico_sphere import ico_sphere
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# If DEBUG=True, save out images generated in the tests for debugging.
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# All saved images have prefix DEBUG_
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DEBUG = False
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DATA_DIR = Path(__file__).resolve().parent / "data"
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class TestRenderMeshes(TestCaseMixin, unittest.TestCase):
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def test_simple_sphere(self, elevated_camera=False):
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"""
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Test output of phong and gouraud shading matches a reference image using
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the default values for the light sources.
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Args:
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elevated_camera: Defines whether the camera observing the scene should
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have an elevation of 45 degrees.
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"""
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device = torch.device("cuda:0")
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# Init mesh
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sphere_mesh = ico_sphere(5, device)
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verts_padded = sphere_mesh.verts_padded()
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faces_padded = sphere_mesh.faces_padded()
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textures = Textures(verts_rgb=torch.ones_like(verts_padded))
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sphere_mesh = Meshes(verts=verts_padded, faces=faces_padded, textures=textures)
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# Init rasterizer settings
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if elevated_camera:
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# Elevated and rotated camera
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R, T = look_at_view_transform(dist=2.7, elev=45.0, azim=45.0)
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postfix = "_elevated_camera"
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# If y axis is up, the spot of light should
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# be on the bottom left of the sphere.
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else:
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# No elevation or azimuth rotation
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R, T = look_at_view_transform(2.7, 0.0, 0.0)
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postfix = ""
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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# Init shader settings
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materials = Materials(device=device)
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lights = PointLights(device=device)
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lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
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raster_settings = RasterizationSettings(
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image_size=512, blur_radius=0.0, faces_per_pixel=1
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)
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rasterizer = MeshRasterizer(cameras=cameras, raster_settings=raster_settings)
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blend_params = BlendParams(1e-4, 1e-4, (0, 0, 0))
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# Test several shaders
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shaders = {
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"phong": HardPhongShader,
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"gouraud": HardGouraudShader,
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"flat": HardFlatShader,
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}
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for (name, shader_init) in shaders.items():
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shader = shader_init(
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lights=lights,
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cameras=cameras,
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materials=materials,
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blend_params=blend_params,
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)
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renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
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images = renderer(sphere_mesh)
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filename = "simple_sphere_light_%s%s.png" % (name, postfix)
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image_ref = load_rgb_image("test_%s" % filename, DATA_DIR)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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filename = "DEBUG_%s" % filename
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / filename
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)
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self.assertClose(rgb, image_ref, atol=0.05)
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########################################################
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# Move the light to the +z axis in world space so it is
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# behind the sphere. Note that +Z is in, +Y up,
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# +X left for both world and camera space.
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########################################################
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lights.location[..., 2] = -2.0
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phong_shader = HardPhongShader(
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lights=lights,
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cameras=cameras,
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materials=materials,
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blend_params=blend_params,
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)
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phong_renderer = MeshRenderer(rasterizer=rasterizer, shader=phong_shader)
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images = phong_renderer(sphere_mesh, lights=lights)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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filename = "DEBUG_simple_sphere_dark%s.png" % postfix
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / filename
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)
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# Load reference image
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image_ref_phong_dark = load_rgb_image(
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"test_simple_sphere_dark%s.png" % postfix, DATA_DIR
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)
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self.assertClose(rgb, image_ref_phong_dark, atol=0.05)
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def test_simple_sphere_elevated_camera(self):
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"""
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Test output of phong and gouraud shading matches a reference image using
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the default values for the light sources.
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The rendering is performed with a camera that has non-zero elevation.
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"""
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self.test_simple_sphere(elevated_camera=True)
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def test_simple_sphere_batched(self):
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"""
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Test a mesh with vertex textures can be extended to form a batch, and
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is rendered correctly with Phong, Gouraud and Flat Shaders.
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"""
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batch_size = 20
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device = torch.device("cuda:0")
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# Init mesh with vertex textures.
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sphere_meshes = ico_sphere(5, device).extend(batch_size)
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verts_padded = sphere_meshes.verts_padded()
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faces_padded = sphere_meshes.faces_padded()
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textures = Textures(verts_rgb=torch.ones_like(verts_padded))
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sphere_meshes = Meshes(
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verts=verts_padded, faces=faces_padded, textures=textures
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)
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# Init rasterizer settings
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dist = torch.tensor([2.7]).repeat(batch_size).to(device)
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elev = torch.zeros_like(dist)
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azim = torch.zeros_like(dist)
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R, T = look_at_view_transform(dist, elev, azim)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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raster_settings = RasterizationSettings(
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image_size=512, blur_radius=0.0, faces_per_pixel=1
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)
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# Init shader settings
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materials = Materials(device=device)
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lights = PointLights(device=device)
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lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
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blend_params = BlendParams(1e-4, 1e-4, (0, 0, 0))
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# Init renderer
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rasterizer = MeshRasterizer(cameras=cameras, raster_settings=raster_settings)
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shaders = {
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"phong": HardPhongShader,
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"gouraud": HardGouraudShader,
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"flat": HardFlatShader,
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}
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for (name, shader_init) in shaders.items():
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shader = shader_init(
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lights=lights,
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cameras=cameras,
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materials=materials,
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blend_params=blend_params,
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)
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renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
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images = renderer(sphere_meshes)
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image_ref = load_rgb_image(
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"test_simple_sphere_light_%s.png" % name, DATA_DIR
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)
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for i in range(batch_size):
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rgb = images[i, ..., :3].squeeze().cpu()
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self.assertClose(rgb, image_ref, atol=0.05)
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def test_silhouette_with_grad(self):
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"""
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Test silhouette blending. Also check that gradient calculation works.
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"""
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device = torch.device("cuda:0")
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ref_filename = "test_silhouette.png"
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image_ref_filename = DATA_DIR / ref_filename
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sphere_mesh = ico_sphere(5, device)
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verts, faces = sphere_mesh.get_mesh_verts_faces(0)
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sphere_mesh = Meshes(verts=[verts], faces=[faces])
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blend_params = BlendParams(sigma=1e-4, gamma=1e-4)
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raster_settings = RasterizationSettings(
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image_size=512,
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blur_radius=np.log(1.0 / 1e-4 - 1.0) * blend_params.sigma,
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faces_per_pixel=80,
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clip_barycentric_coords=True,
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)
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# Init rasterizer settings
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R, T = look_at_view_transform(2.7, 0, 0)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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# Init renderer
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renderer = MeshRenderer(
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rasterizer=MeshRasterizer(cameras=cameras, raster_settings=raster_settings),
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shader=SoftSilhouetteShader(blend_params=blend_params),
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)
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images = renderer(sphere_mesh)
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alpha = images[0, ..., 3].squeeze().cpu()
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if DEBUG:
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Image.fromarray((alpha.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / "DEBUG_silhouette.png"
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)
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with Image.open(image_ref_filename) as raw_image_ref:
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image_ref = torch.from_numpy(np.array(raw_image_ref))
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image_ref = image_ref.to(dtype=torch.float32) / 255.0
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self.assertClose(alpha, image_ref, atol=0.055)
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# Check grad exist
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verts.requires_grad = True
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sphere_mesh = Meshes(verts=[verts], faces=[faces])
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images = renderer(sphere_mesh)
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images[0, ...].sum().backward()
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self.assertIsNotNone(verts.grad)
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def test_texture_map(self):
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"""
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Test a mesh with a texture map is loaded and rendered correctly.
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The pupils in the eyes of the cow should always be looking to the left.
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"""
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device = torch.device("cuda:0")
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obj_dir = Path(__file__).resolve().parent.parent / "docs/tutorials/data"
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obj_filename = obj_dir / "cow_mesh/cow.obj"
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# Load mesh + texture
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mesh = load_objs_as_meshes([obj_filename], device=device)
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# Init rasterizer settings
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R, T = look_at_view_transform(2.7, 0, 0)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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raster_settings = RasterizationSettings(
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image_size=512, blur_radius=0.0, faces_per_pixel=1
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)
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# Init shader settings
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materials = Materials(device=device)
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lights = PointLights(device=device)
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# Place light behind the cow in world space. The front of
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# the cow is facing the -z direction.
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lights.location = torch.tensor([0.0, 0.0, 2.0], device=device)[None]
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blend_params = BlendParams(
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sigma=1e-1,
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gamma=1e-4,
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background_color=torch.tensor([1.0, 1.0, 1.0], device=device),
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)
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# Init renderer
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renderer = MeshRenderer(
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rasterizer=MeshRasterizer(cameras=cameras, raster_settings=raster_settings),
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shader=TexturedSoftPhongShader(
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lights=lights,
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cameras=cameras,
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materials=materials,
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blend_params=blend_params,
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),
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)
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# Load reference image
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image_ref = load_rgb_image("test_texture_map_back.png", DATA_DIR)
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for bin_size in [0, None]:
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# Check both naive and coarse to fine produce the same output.
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renderer.rasterizer.raster_settings.bin_size = bin_size
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images = renderer(mesh)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / "DEBUG_texture_map_back.png"
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)
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# NOTE some pixels can be flaky and will not lead to
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# `cond1` being true. Add `cond2` and check `cond1 or cond2`
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cond1 = torch.allclose(rgb, image_ref, atol=0.05)
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cond2 = ((rgb - image_ref).abs() > 0.05).sum() < 5
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self.assertTrue(cond1 or cond2)
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# Check grad exists
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[verts] = mesh.verts_list()
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verts.requires_grad = True
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mesh2 = Meshes(verts=[verts], faces=mesh.faces_list(), textures=mesh.textures)
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images = renderer(mesh2)
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images[0, ...].sum().backward()
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self.assertIsNotNone(verts.grad)
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##########################################
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# Check rendering of the front of the cow
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##########################################
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R, T = look_at_view_transform(2.7, 0, 180)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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# Move light to the front of the cow in world space
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lights.location = torch.tensor([0.0, 0.0, -2.0], device=device)[None]
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# Load reference image
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image_ref = load_rgb_image("test_texture_map_front.png", DATA_DIR)
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for bin_size in [0, None]:
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# Check both naive and coarse to fine produce the same output.
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renderer.rasterizer.raster_settings.bin_size = bin_size
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images = renderer(mesh, cameras=cameras, lights=lights)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / "DEBUG_texture_map_front.png"
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)
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# NOTE some pixels can be flaky and will not lead to
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# `cond1` being true. Add `cond2` and check `cond1 or cond2`
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cond1 = torch.allclose(rgb, image_ref, atol=0.05)
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cond2 = ((rgb - image_ref).abs() > 0.05).sum() < 5
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self.assertTrue(cond1 or cond2)
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#################################
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# Add blurring to rasterization
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#################################
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R, T = look_at_view_transform(2.7, 0, 180)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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blend_params = BlendParams(sigma=5e-4, gamma=1e-4)
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raster_settings = RasterizationSettings(
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image_size=512,
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blur_radius=np.log(1.0 / 1e-4 - 1.0) * blend_params.sigma,
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faces_per_pixel=100,
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clip_barycentric_coords=True,
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)
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# Load reference image
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image_ref = load_rgb_image("test_blurry_textured_rendering.png", DATA_DIR)
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for bin_size in [0, None]:
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# Check both naive and coarse to fine produce the same output.
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renderer.rasterizer.raster_settings.bin_size = bin_size
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images = renderer(
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mesh.clone(),
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cameras=cameras,
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raster_settings=raster_settings,
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blend_params=blend_params,
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)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / "DEBUG_blurry_textured_rendering.png"
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)
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self.assertClose(rgb, image_ref, atol=0.05)
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def test_joined_spheres(self):
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"""
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Test a list of Meshes can be joined as a single mesh and
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the single mesh is rendered correctly with Phong, Gouraud
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and Flat Shaders.
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"""
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device = torch.device("cuda:0")
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# Init mesh with vertex textures.
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# Initialize a list containing two ico spheres of different sizes.
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sphere_list = [ico_sphere(3, device), ico_sphere(4, device)]
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# [(42 verts, 80 faces), (162 verts, 320 faces)]
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# The scale the vertices need to be set at to resize the spheres
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scales = [0.25, 1]
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# The distance the spheres ought to be offset horizontally to prevent overlap.
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offsets = [1.2, -0.3]
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# Initialize a list containing the adjusted sphere meshes.
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sphere_mesh_list = []
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for i in range(len(sphere_list)):
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verts = sphere_list[i].verts_padded() * scales[i]
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verts[0, :, 0] += offsets[i]
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sphere_mesh_list.append(
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Meshes(verts=verts, faces=sphere_list[i].faces_padded())
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)
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joined_sphere_mesh = join_mesh(sphere_mesh_list)
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joined_sphere_mesh.textures = Textures(
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verts_rgb=torch.ones_like(joined_sphere_mesh.verts_padded())
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)
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# Init rasterizer settings
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R, T = look_at_view_transform(2.7, 0.0, 0.0)
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cameras = OpenGLPerspectiveCameras(device=device, R=R, T=T)
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raster_settings = RasterizationSettings(
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image_size=512, blur_radius=0.0, faces_per_pixel=1
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)
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# Init shader settings
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materials = Materials(device=device)
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lights = PointLights(device=device)
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lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
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blend_params = BlendParams(1e-4, 1e-4, (0, 0, 0))
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# Init renderer
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rasterizer = MeshRasterizer(cameras=cameras, raster_settings=raster_settings)
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shaders = {
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"phong": HardPhongShader,
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"gouraud": HardGouraudShader,
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"flat": HardFlatShader,
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}
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for (name, shader_init) in shaders.items():
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shader = shader_init(
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lights=lights,
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cameras=cameras,
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materials=materials,
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blend_params=blend_params,
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)
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renderer = MeshRenderer(rasterizer=rasterizer, shader=shader)
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image = renderer(joined_sphere_mesh)
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rgb = image[..., :3].squeeze().cpu()
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if DEBUG:
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file_name = "DEBUG_joined_spheres_%s.png" % name
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Image.fromarray((rgb.numpy() * 255).astype(np.uint8)).save(
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DATA_DIR / file_name
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)
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image_ref = load_rgb_image("test_joined_spheres_%s.png" % name, DATA_DIR)
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self.assertClose(rgb, image_ref, atol=0.05)
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