def test_basic_3chan(self):
"""Test rendering one image with one sphere, 3 channels."""
from pytorch3d.renderer.points.pulsar import Renderer
LOGGER.info("Setting up rendering test for 3 channels...")
n_points = 1
width = 1_000
height = 1_000
renderer = Renderer(width, height, n_points)
vert_pos = torch.tensor([[0.0, 0.0, 25.0]], dtype=torch.float32)
vert_col = torch.tensor([[0.3, 0.5, 0.7]], dtype=torch.float32)
vert_rad = torch.tensor([1.0], dtype=torch.float32)
cam_params = torch.tensor([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 2.0],
dtype=torch.float32)
for device in devices:
vert_pos = vert_pos.to(device)
vert_col = vert_col.to(device)
vert_rad = vert_rad.to(device)
cam_params = cam_params.to(device)
renderer = renderer.to(device)
LOGGER.info("Rendering...")
# Measurements.
result = renderer.forward(vert_pos, vert_col, vert_rad, cam_params,
1.0e-1, 45.0)
hits = renderer.forward(
vert_pos,
vert_col,
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
mode=1,
)
if not os.environ.get("FB_TEST", False):
imageio.imsave(
path.join(
path.dirname(__file__),
"test_out",
"test_forward_TestForward_test_basic_3chan.png",
),
(result * 255.0).cpu().to(torch.uint8).numpy(),
)
imageio.imsave(
path.join(
path.dirname(__file__),
"test_out",
"test_forward_TestForward_test_basic_3chan_hits.png",
),
(hits * 255.0).cpu().to(torch.uint8).numpy(),
)
self.assertEqual(hits[500, 500, 0].item(), 1.0)
self.assertTrue(
np.allclose(
result[500, 500, :].cpu().numpy(),
[0.3, 0.5, 0.7],
rtol=1e-2,
atol=1e-2,
))
def _bm_pulsar_backward():
n_points = 1_000_000
width = 1_000
height = 1_000
renderer = Renderer(width, height, n_points)
# Generate sample data.
torch.manual_seed(1)
vert_pos = torch.rand(n_points, 3, dtype=torch.float32) * 10.0
vert_pos[:, 2] += 25.0
vert_pos[:, :2] -= 5.0
vert_col = torch.rand(n_points, 3, dtype=torch.float32)
vert_rad = torch.rand(n_points, dtype=torch.float32)
cam_params = torch.tensor([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 2.0],
dtype=torch.float32)
device = torch.device("cuda")
vert_pos = vert_pos.to(device)
vert_col = vert_col.to(device)
vert_rad = vert_rad.to(device)
cam_params = cam_params.to(device)
renderer = renderer.to(device)
vert_pos_var = Variable(vert_pos, requires_grad=True)
vert_col_var = Variable(vert_col, requires_grad=True)
vert_rad_var = Variable(vert_rad, requires_grad=True)
cam_params_var = Variable(cam_params, requires_grad=True)
res = renderer.forward(
vert_pos_var,
vert_col_var,
vert_rad_var,
cam_params_var,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
)
loss = res.sum()
def bm_closure():
loss.backward(retain_graph=True)
torch.cuda.synchronize()
return bm_closure
def test_basic(self):
"""Basic forward test."""
from pytorch3d.renderer.points.pulsar import Renderer
import torch
n_points = 10
width = 1_000
height = 1_000
renderer_1 = Renderer(width, height, n_points, n_channels=1)
renderer_3 = Renderer(width, height, n_points, n_channels=3)
renderer_8 = Renderer(width, height, n_points, n_channels=8)
# Generate sample data.
torch.manual_seed(1)
vert_pos = torch.rand(n_points, 3, dtype=torch.float32) * 10.0
vert_pos[:, 2] += 25.0
vert_pos[:, :2] -= 5.0
vert_col = torch.rand(n_points, 8, dtype=torch.float32)
vert_rad = torch.rand(n_points, dtype=torch.float32)
cam_params = torch.tensor([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 2.0],
dtype=torch.float32)
for device in devices:
vert_pos = vert_pos.to(device)
vert_col = vert_col.to(device)
vert_rad = vert_rad.to(device)
cam_params = cam_params.to(device)
renderer_1 = renderer_1.to(device)
renderer_3 = renderer_3.to(device)
renderer_8 = renderer_8.to(device)
result_1 = (renderer_1.forward(
vert_pos,
vert_col[:, :1],
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
).cpu().detach().numpy())
hits_1 = (renderer_1.forward(
vert_pos,
vert_col[:, :1],
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
mode=1,
).cpu().detach().numpy())
result_3 = (renderer_3.forward(
vert_pos,
vert_col[:, :3],
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
).cpu().detach().numpy())
hits_3 = (renderer_3.forward(
vert_pos,
vert_col[:, :3],
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
mode=1,
).cpu().detach().numpy())
result_8 = (renderer_8.forward(
vert_pos,
vert_col,
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
).cpu().detach().numpy())
hits_8 = (renderer_8.forward(
vert_pos,
vert_col,
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
mode=1,
).cpu().detach().numpy())
self.assertClose(result_1, result_3[:, :, :1])
self.assertClose(result_3, result_8[:, :, :3])
self.assertClose(hits_1, hits_3)
self.assertClose(hits_8, hits_3)
def test_principal_point(self):
"""Test shifting the principal point."""
from pytorch3d.renderer.points.pulsar import Renderer
LOGGER.info("Setting up rendering test for shifted principal point...")
n_points = 1
width = 1_000
height = 1_000
renderer = Renderer(width, height, n_points, n_channels=1)
vert_pos = torch.tensor([[0.0, 0.0, 25.0]], dtype=torch.float32)
vert_col = torch.tensor([[0.0]], dtype=torch.float32)
vert_rad = torch.tensor([1.0], dtype=torch.float32)
cam_params = torch.tensor(
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 2.0, 0.0, 0.0],
dtype=torch.float32)
for device in devices:
vert_pos = vert_pos.to(device)
vert_col = vert_col.to(device)
vert_rad = vert_rad.to(device)
cam_params = cam_params.to(device)
cam_params[-2] = -250.0
cam_params[-1] = -250.0
renderer = renderer.to(device)
LOGGER.info("Rendering...")
# Measurements.
result = renderer.forward(vert_pos, vert_col, vert_rad, cam_params,
1.0e-1, 45.0)
if not os.environ.get("FB_TEST", False):
imageio.imsave(
path.join(
path.dirname(__file__),
"test_out",
"test_forward_TestForward_test_principal_point.png",
),
(result * 255.0).cpu().to(torch.uint8).numpy(),
)
self.assertTrue(
np.allclose(result[750, 750, :].cpu().numpy(), [0.0],
rtol=1e-2,
atol=1e-2))
for device in devices:
vert_pos = vert_pos.to(device)
vert_col = vert_col.to(device)
vert_rad = vert_rad.to(device)
cam_params = cam_params.to(device)
cam_params[-2] = 250.0
cam_params[-1] = 250.0
renderer = renderer.to(device)
LOGGER.info("Rendering...")
# Measurements.
result = renderer.forward(vert_pos, vert_col, vert_rad, cam_params,
1.0e-1, 45.0)
if not os.environ.get("FB_TEST", False):
imageio.imsave(
path.join(
path.dirname(__file__),
"test_out",
"test_forward_TestForward_test_principal_point.png",
),
(result * 255.0).cpu().to(torch.uint8).numpy(),
)
self.assertTrue(
np.allclose(result[250, 250, :].cpu().numpy(), [0.0],
rtol=1e-2,
atol=1e-2))
def test_basic(self):
"""Basic forward test."""
from pytorch3d.renderer.points.pulsar import Renderer
n_points = 10
width = 1000
height = 1000
renderer_left = Renderer(width,
height,
n_points,
right_handed_system=False)
renderer_right = Renderer(width,
height,
n_points,
right_handed_system=True)
# Generate sample data.
torch.manual_seed(1)
vert_pos = torch.rand(n_points, 3, dtype=torch.float32) * 10.0
vert_pos[:, 2] += 25.0
vert_pos[:, :2] -= 5.0
vert_pos_neg = vert_pos.clone()
vert_pos_neg[:, 2] *= -1.0
vert_col = torch.rand(n_points, 3, dtype=torch.float32)
vert_rad = torch.rand(n_points, dtype=torch.float32)
cam_params = torch.tensor([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 2.0],
dtype=torch.float32)
for device in devices:
vert_pos = vert_pos.to(device)
vert_pos_neg = vert_pos_neg.to(device)
vert_col = vert_col.to(device)
vert_rad = vert_rad.to(device)
cam_params = cam_params.to(device)
renderer_left = renderer_left.to(device)
renderer_right = renderer_right.to(device)
result_left = (renderer_left.forward(
vert_pos,
vert_col,
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
).cpu().detach().numpy())
hits_left = (renderer_left.forward(
vert_pos,
vert_col,
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
mode=1,
).cpu().detach().numpy())
result_right = (renderer_right.forward(
vert_pos_neg,
vert_col,
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
).cpu().detach().numpy())
hits_right = (renderer_right.forward(
vert_pos_neg,
vert_col,
vert_rad,
cam_params,
1.0e-1,
45.0,
percent_allowed_difference=0.01,
mode=1,
).cpu().detach().numpy())
self.assertClose(result_left, result_right)
self.assertClose(hits_left, hits_right)