mirror of
https://github.com/facebookresearch/pytorch3d.git
synced 2025-08-02 20:02:49 +08:00
15c72be444
Summary:
## Updates
- Defined the world and camera coordinates according to this figure. The world coordinates are defined as having +Y up, +X left and +Z in.
{F230888499}
- Removed all flipping from blending functions.
- Updated the rasterizer to return images with +Y up and +X left.
- Updated all the mesh rasterizer tests
- The expected values are now defined in terms of the default +Y up, +X left
- Added tests where the triangles in the meshes are non symmetrical so that it is clear which direction +X and +Y are
## Questions:
- Should we have **scene settings** instead of raster settings?
- To be more correct we should be [z clipping in the rasterizer based on the far/near clipping planes](https://github.com/ShichenLiu/SoftRas/blob/master/soft_renderer/cuda/soft_rasterize_cuda_kernel.cu#L400) - these values are also required in the blending functions so should we make these scene level parameters and have a scene settings tuple which is available to the rasterizer and shader?
Reviewed By: gkioxari
Differential Revision: D20208604
fbshipit-source-id: 55787301b1bffa0afa9618f0a0886cc681da51f3
409 lines
14 KiB
Python
409 lines
14 KiB
Python
#!/usr/bin/env python3
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# 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 numpy as np
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import unittest
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from pathlib import Path
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import torch
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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 (
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OpenGLPerspectiveCameras,
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look_at_view_transform,
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)
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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 (
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MeshRasterizer,
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RasterizationSettings,
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)
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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
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from pytorch3d.utils.ico_sphere import ico_sphere
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# 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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def load_rgb_image(filename, data_dir=DATA_DIR):
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filepath = data_dir / filename
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with Image.open(filepath) as raw_image:
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image = torch.from_numpy(np.array(raw_image) / 255.0)
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image = image.to(dtype=torch.float32)
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return image[..., :3]
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class TestRenderingMeshes(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(
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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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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, bin_size=0
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)
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# Init renderer
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rasterizer = MeshRasterizer(
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cameras=cameras, raster_settings=raster_settings
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)
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renderer = MeshRenderer(
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rasterizer=rasterizer,
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shader=HardPhongShader(
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lights=lights, cameras=cameras, materials=materials
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),
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)
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images = renderer(sphere_mesh)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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filename = "DEBUG_simple_sphere_light%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 = load_rgb_image(
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"test_simple_sphere_light%s.png" % postfix
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)
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self.assertTrue(torch.allclose(rgb, image_ref_phong, 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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images = 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
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)
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self.assertTrue(torch.allclose(rgb, image_ref_phong_dark, atol=0.05))
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######################################
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# Change the shader to a GouraudShader
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######################################
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lights.location = torch.tensor([0.0, 0.0, +2.0], device=device)[None]
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renderer = MeshRenderer(
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rasterizer=rasterizer,
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shader=HardGouraudShader(
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lights=lights, cameras=cameras, materials=materials
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),
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)
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images = renderer(sphere_mesh)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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filename = "DEBUG_simple_sphere_light_gouraud%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_gouraud = load_rgb_image(
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"test_simple_sphere_light_gouraud%s.png" % postfix
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)
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self.assertTrue(torch.allclose(rgb, image_ref_gouraud, atol=0.005))
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######################################
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# Change the shader to a HardFlatShader
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######################################
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renderer = MeshRenderer(
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rasterizer=rasterizer,
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shader=HardFlatShader(
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lights=lights, cameras=cameras, materials=materials
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),
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)
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images = renderer(sphere_mesh)
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rgb = images[0, ..., :3].squeeze().cpu()
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if DEBUG:
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filename = "DEBUG_simple_sphere_light_flat%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_flat = load_rgb_image(
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"test_simple_sphere_light_flat%s.png" % postfix
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)
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self.assertTrue(torch.allclose(rgb, image_ref_flat, atol=0.005))
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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 output of phong shading matches a reference image using
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the default values for the light sources.
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"""
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batch_size = 5
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device = torch.device("cuda:0")
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# Init mesh
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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, bin_size=0
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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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# Init renderer
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renderer = MeshRenderer(
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rasterizer=MeshRasterizer(
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cameras=cameras, raster_settings=raster_settings
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),
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shader=HardPhongShader(
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lights=lights, cameras=cameras, materials=materials
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),
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)
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images = renderer(sphere_meshes)
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# Load ref image
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image_ref = load_rgb_image("test_simple_sphere_light.png")
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for i in range(batch_size):
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rgb = images[i, ..., :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 / f"DEBUG_simple_sphere_{i}.png"
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)
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self.assertTrue(torch.allclose(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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bin_size=0,
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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(
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cameras=cameras, raster_settings=raster_settings
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),
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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.assertTrue(torch.allclose(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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DATA_DIR = (
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Path(__file__).resolve().parent.parent / "docs/tutorials/data"
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)
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obj_filename = DATA_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, bin_size=0
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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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# Init renderer
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renderer = MeshRenderer(
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rasterizer=MeshRasterizer(
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cameras=cameras, raster_settings=raster_settings
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),
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shader=TexturedSoftPhongShader(
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lights=lights, cameras=cameras, materials=materials
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),
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)
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images = renderer(mesh)
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rgb = images[0, ..., :3].squeeze().cpu()
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# Load reference image
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image_ref = load_rgb_image("test_texture_map_back.png")
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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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self.assertTrue(torch.allclose(rgb, image_ref, atol=0.05))
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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(
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verts=[verts], faces=mesh.faces_list(), textures=mesh.textures
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)
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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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images = renderer(mesh, cameras=cameras, lights=lights)
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rgb = images[0, ..., :3].squeeze().cpu()
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# Load reference image
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image_ref = load_rgb_image("test_texture_map_front.png")
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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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#################################
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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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bin_size=0,
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)
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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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# Load reference image
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image_ref = load_rgb_image("test_blurry_textured_rendering.png")
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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.assertTrue(torch.allclose(rgb, image_ref, atol=0.05))
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