Enable mixed frame raysampling

Summary:
Changed ray_sampler and metrics to be able to use mixed frame raysampling.

Ray_sampler now has a new member which it passes to the pytorch3d raysampler.
If the raybundle is heterogeneous metrics now samples images by padding xys first. This reduces memory consumption.

Reviewed By: bottler, kjchalup

Differential Revision: D39542221

fbshipit-source-id: a6fec23838d3049ae5c2fd2e1f641c46c7c927e3

Author: Darijan Gudelj

projects/implicitron_trainer/experiment.py

@@ -222,6 +222,7 @@ def run(self) -> None:
             train_loader=train_loader,
             val_loader=val_loader,
             test_loader=test_loader,
+            train_dataset=datasets.train,
             model=model,
             optimizer=optimizer,
             scheduler=scheduler,

projects/implicitron_trainer/tests/experiment.yaml

@@ -197,6 +197,7 @@ model_factory_ImplicitronModelFactory_args:
       n_pts_per_ray_training: 64
       n_pts_per_ray_evaluation: 64
       n_rays_per_image_sampled_from_mask: 1024
+      n_rays_total_training: null
       stratified_point_sampling_training: true
       stratified_point_sampling_evaluation: false
       scene_extent: 8.0
@@ -208,6 +209,7 @@ model_factory_ImplicitronModelFactory_args:
       n_pts_per_ray_training: 64
       n_pts_per_ray_evaluation: 64
       n_rays_per_image_sampled_from_mask: 1024
+      n_rays_total_training: null
       stratified_point_sampling_training: true
       stratified_point_sampling_evaluation: false
       min_depth: 0.1

pytorch3d/implicitron/models/generic_model.py

@@ -473,7 +473,7 @@ def curried_viewpooler(pts):
             self.view_metrics(
                 results=preds,
                 raymarched=rendered,
-                xys=ray_bundle.xys,
+                ray_bundle=ray_bundle,
                 image_rgb=safe_slice_targets(image_rgb),
                 depth_map=safe_slice_targets(depth_map),
                 fg_probability=safe_slice_targets(fg_probability),
@@ -932,6 +932,11 @@ def _chunk_generator(
     if len(iter) >= tqdm_trigger_threshold:
         iter = tqdm.tqdm(iter)
 
+    def _safe_slice(
+        tensor: Optional[torch.Tensor], start_idx: int, end_idx: int
+    ) -> Optional[torch.Tensor]:
+        return tensor[start_idx:end_idx] if tensor is not None else None
+
     for start_idx in iter:
         end_idx = min(start_idx + chunk_size_in_rays, n_rays)
         ray_bundle_chunk = ImplicitronRayBundle(
@@ -943,6 +948,8 @@ def _chunk_generator(
                 :, start_idx:end_idx
             ],
             xys=ray_bundle.xys.reshape(batch_size, -1, 2)[:, start_idx:end_idx],
+            camera_ids=_safe_slice(ray_bundle.camera_ids, start_idx, end_idx),
+            camera_counts=_safe_slice(ray_bundle.camera_counts, start_idx, end_idx),
         )
         extra_args = kwargs.copy()
         for k, v in chunked_inputs.items():

pytorch3d/implicitron/models/metrics.py

@@ -9,8 +9,10 @@
 from typing import Any, Dict, Optional
 
 import torch
+from pytorch3d.implicitron.models.renderer.ray_sampler import ImplicitronRayBundle
 from pytorch3d.implicitron.tools import metric_utils as utils
 from pytorch3d.implicitron.tools.config import registry, ReplaceableBase
+from pytorch3d.ops import packed_to_padded, padded_to_packed
 from pytorch3d.renderer import utils as rend_utils
 
 from .renderer.base import RendererOutput
@@ -60,7 +62,7 @@ def __post_init__(self) -> None:
     def forward(
         self,
         raymarched: RendererOutput,
-        xys: torch.Tensor,
+        ray_bundle: ImplicitronRayBundle,
         image_rgb: Optional[torch.Tensor] = None,
         depth_map: Optional[torch.Tensor] = None,
         fg_probability: Optional[torch.Tensor] = None,
@@ -79,10 +81,8 @@ def forward(
                 names of the output metrics `metric_name_i` with their corresponding
                 values `metric_value_i` represented as 0-dimensional float tensors.
             raymarched: Output of the renderer.
-            xys: A tensor of shape `(B, ..., 2)` containing 2D image locations at which
-                the predictions are defined. All ground truth inputs are sampled at
-                these locations in order to extract values that correspond to the
-                predictions.
+            ray_bundle: ImplicitronRayBundle object which was used to produce the raymarched
+                object
             image_rgb: A tensor of shape `(B, H, W, 3)` containing ground truth rgb
                 values.
             depth_map: A tensor of shape `(B, Hd, Wd, 1)` containing ground truth depth
@@ -141,7 +141,7 @@ class ViewMetrics(ViewMetricsBase):
     def forward(
         self,
         raymarched: RendererOutput,
-        xys: torch.Tensor,
+        ray_bundle: ImplicitronRayBundle,
         image_rgb: Optional[torch.Tensor] = None,
         depth_map: Optional[torch.Tensor] = None,
         fg_probability: Optional[torch.Tensor] = None,
@@ -165,10 +165,8 @@ def forward(
                 input 3D coordinates used to compute the eikonal loss.
             raymarched.aux["density_grid"]: A tensor of shape `(B, Hg, Wg, Dg, 1)`
                 containing a `Hg x Wg x Dg` voxel grid of density values.
-            xys: A tensor of shape `(B, ..., 2)` containing 2D image locations at which
-                the predictions are defined. All ground truth inputs are sampled at
-                these locations in order to extract values that correspond to the
-                predictions.
+            ray_bundle: ImplicitronRayBundle object which was used to produce the raymarched
+                object
             image_rgb: A tensor of shape `(B, H, W, 3)` containing ground truth rgb
                 values.
             depth_map: A tensor of shape `(B, Hd, Wd, 1)` containing ground truth depth
@@ -209,7 +207,7 @@ def forward(
         """
         metrics = self._calculate_stage(
             raymarched,
-            xys,
+            ray_bundle,
             image_rgb,
             depth_map,
             fg_probability,
@@ -221,7 +219,7 @@ def forward(
             metrics.update(
                 self(
                     raymarched.prev_stage,
-                    xys,
+                    ray_bundle,
                     image_rgb,
                     depth_map,
                     fg_probability,
@@ -235,7 +233,7 @@ def forward(
     def _calculate_stage(
         self,
         raymarched: RendererOutput,
-        xys: torch.Tensor,
+        ray_bundle: ImplicitronRayBundle,
         image_rgb: Optional[torch.Tensor] = None,
         depth_map: Optional[torch.Tensor] = None,
         fg_probability: Optional[torch.Tensor] = None,
@@ -253,6 +251,27 @@ def _calculate_stage(
             _reshape_nongrid_var(x)
             for x in [raymarched.features, raymarched.masks, raymarched.depths]
         ]
+        xys = ray_bundle.xys
+
+        # If ray_bundle is packed than we can sample images in padded state to lower
+        # memory requirements. Instead of having one image for every element in
+        # ray_bundle we can than have one image per unique sampled camera.
+        if ray_bundle.is_packed():
+            # pyre-ignore[6]
+            cumsum = torch.cumsum(ray_bundle.camera_counts, dim=0, dtype=torch.long)
+            first_idxs = torch.cat(
+                (
+                    # pyre-ignore[16]
+                    ray_bundle.camera_counts.new_zeros((1,), dtype=torch.long),
+                    cumsum[:-1],
+                )
+            )
+            # pyre-ignore[16]
+            num_inputs = int(ray_bundle.camera_counts.sum())
+            # pyre-ignore[6]
+            max_size = int(torch.max(ray_bundle.camera_counts))
+            xys = packed_to_padded(xys, first_idxs, max_size)
+
         # reshape the sampling grid as well
         # TODO: we can get rid of the singular dimension here and in _reshape_nongrid_var
         # now that we use rend_utils.ndc_grid_sample
@@ -262,7 +281,20 @@ def _calculate_stage(
         def sample(tensor, mode):
             if tensor is None:
                 return tensor
-            return rend_utils.ndc_grid_sample(tensor, xys, mode=mode)
+            if ray_bundle.is_packed():
+                # select images that corespond to sampled cameras if raybundle is packed
+                tensor = tensor[ray_bundle.camera_ids]
+            result = rend_utils.ndc_grid_sample(tensor, xys, mode=mode)
+            if ray_bundle.is_packed():
+                # Images after sampling are in a form [batch, 3, max_num_rays, 1],
+                # packed_to_padded combines first two dimensions so we need to swap 1st
+                # and 2nd dimension. the result is [n_rays_total_training, 1, 3, 1]
+                # (we use keepdim=True).
+                result = result.transpose(1, 2)
+                result = padded_to_packed(result, first_idxs, num_inputs)[:, None]
+                result = result.transpose(1, 2)
+
+            return result
 
         # eval all results in this size
         image_rgb = sample(image_rgb, mode="bilinear")

pytorch3d/implicitron/models/renderer/ray_point_refiner.py

@@ -5,8 +5,9 @@
 # LICENSE file in the root directory of this source tree.
 
 import torch
+from pytorch3d.implicitron.models.renderer.base import ImplicitronRayBundle
 from pytorch3d.implicitron.tools.config import Configurable, expand_args_fields
-from pytorch3d.renderer import RayBundle
+
 from pytorch3d.renderer.implicit.sample_pdf import sample_pdf
 
 
@@ -42,21 +43,21 @@ def __post_init__(self) -> None:
 
     def forward(
         self,
-        input_ray_bundle: RayBundle,
+        input_ray_bundle: ImplicitronRayBundle,
         ray_weights: torch.Tensor,
         **kwargs,
-    ) -> RayBundle:
+    ) -> ImplicitronRayBundle:
         """
         Args:
-            input_ray_bundle: An instance of `RayBundle` specifying the
+            input_ray_bundle: An instance of `ImplicitronRayBundle` specifying the
                 source rays for sampling of the probability distribution.
             ray_weights: A tensor of shape
                 `(..., input_ray_bundle.legths.shape[-1])` with non-negative
                 elements defining the probability distribution to sample
                 ray points from.
 
         Returns:
-            ray_bundle: A new `RayBundle` instance containing the input ray
+            ray_bundle: A new `ImplicitronRayBundle` instance containing the input ray
                 points together with `n_pts_per_ray` additionally sampled
                 points per ray. For each ray, the lengths are sorted.
         """
@@ -79,9 +80,6 @@ def forward(
         # Resort by depth.
         z_vals, _ = torch.sort(z_vals, dim=-1)
 
-        return RayBundle(
-            origins=input_ray_bundle.origins,
-            directions=input_ray_bundle.directions,
-            lengths=z_vals,
-            xys=input_ray_bundle.xys,
-        )
+        new_bundle = ImplicitronRayBundle(**vars(input_ray_bundle))
+        new_bundle.lengths = z_vals
+        return new_bundle

pytorch3d/implicitron/models/renderer/ray_sampler.py

@@ -72,7 +72,17 @@ class AbstractMaskRaySampler(RaySamplerBase, torch.nn.Module):
         sampling_mode_evaluation: Same as above but for evaluation.
         n_pts_per_ray_training: The number of points sampled along each ray during training.
         n_pts_per_ray_evaluation: The number of points sampled along each ray during evaluation.
-        n_rays_per_image_sampled_from_mask: The amount of rays to be sampled from the image grid
+        n_rays_per_image_sampled_from_mask: The amount of rays to be sampled from the image
+            grid. Given a batch of image grids, this many is sampled from each.
+            `n_rays_per_image_sampled_from_mask` and `n_rays_total_training` cannot both be
+            defined.
+        n_rays_total_training: (optional) How many rays in total to sample from the entire
+            batch of provided image grid. The result is as if `n_rays_total_training`
+            cameras/image grids were sampled with replacement from the cameras / image grids
+            provided and for every camera one ray was sampled.
+            `n_rays_per_image_sampled_from_mask` and `n_rays_total_training` cannot both be
+            defined, to use you have to set `n_rays_per_image` to None.
+            Used only for EvaluationMode.TRAINING.
         stratified_point_sampling_training: if set, performs stratified random sampling
             along the ray; otherwise takes ray points at deterministic offsets.
         stratified_point_sampling_evaluation: Same as above but for evaluation.
@@ -85,14 +95,23 @@ class AbstractMaskRaySampler(RaySamplerBase, torch.nn.Module):
     sampling_mode_evaluation: str = "full_grid"
     n_pts_per_ray_training: int = 64
     n_pts_per_ray_evaluation: int = 64
-    n_rays_per_image_sampled_from_mask: int = 1024
+    n_rays_per_image_sampled_from_mask: Optional[int] = 1024
+    n_rays_total_training: Optional[int] = None
     # stratified sampling vs taking points at deterministic offsets
     stratified_point_sampling_training: bool = True
     stratified_point_sampling_evaluation: bool = False
 
     def __post_init__(self):
         super().__init__()
 
+        if (self.n_rays_per_image_sampled_from_mask is not None) and (
+            self.n_rays_total_training is not None
+        ):
+            raise ValueError(
+                "Cannot both define n_rays_total_training and "
+                "n_rays_per_image_sampled_from_mask."
+            )
+
         self._sampling_mode = {
             EvaluationMode.TRAINING: RenderSamplingMode(self.sampling_mode_training),
             EvaluationMode.EVALUATION: RenderSamplingMode(
@@ -110,9 +129,11 @@ def __post_init__(self):
             if self._sampling_mode[EvaluationMode.TRAINING]
             == RenderSamplingMode.MASK_SAMPLE
             else None,
+            n_rays_total=self.n_rays_total_training,
             unit_directions=True,
             stratified_sampling=self.stratified_point_sampling_training,
         )
+
         self._evaluation_raysampler = NDCMultinomialRaysampler(
             image_width=self.image_width,
             image_height=self.image_height,

pytorch3d/renderer/implicit/raysampling.py

@@ -90,11 +90,12 @@ def __init__(
             min_depth: The minimum depth of a ray-point.
             max_depth: The maximum depth of a ray-point.
             n_rays_per_image: If given, this amount of rays are sampled from the grid.
+                `n_rays_per_image` and `n_rays_total` cannot both be defined.
             n_rays_total: How many rays in total to sample from the cameras provided. The result
-                is as if `n_rays_total` cameras were sampled with replacement from the
-                cameras provided and for every camera one ray was sampled. If set, this disables
-                `n_rays_per_image` and returns the HeterogeneousRayBundle with
-                batch_size=n_rays_total.
+                is as if `n_rays_total_training` cameras were sampled with replacement from the
+                cameras provided and for every camera one ray was sampled. If set returns the
+                HeterogeneousRayBundle with batch_size=n_rays_total.
+                `n_rays_per_image` and `n_rays_total` cannot both be defined.
             unit_directions: whether to normalize direction vectors in ray bundle.
             stratified_sampling: if True, performs stratified random sampling
                 along the ray; otherwise takes ray points at deterministic offsets.
@@ -144,13 +145,15 @@ def forward(
             min_depth: The minimum depth of a ray-point.
             max_depth: The maximum depth of a ray-point.
             n_rays_per_image: If given, this amount of rays are sampled from the grid.
+                `n_rays_per_image` and `n_rays_total` cannot both be defined.
             n_pts_per_ray: The number of points sampled along each ray.
             stratified_sampling: if set, overrides stratified_sampling provided
                 in __init__.
             n_rays_total: How many rays in total to sample from the cameras provided. The result
                 is as if `n_rays_total_training` cameras were sampled with replacement from the
-                cameras provided and for every camera one ray was sampled. If set, returns the
+                cameras provided and for every camera one ray was sampled. If set returns the
                 HeterogeneousRayBundle with batch_size=n_rays_total.
+                `n_rays_per_image` and `n_rays_total` cannot both be defined.
         Returns:
             A named tuple RayBundle or dataclass HeterogeneousRayBundle with the
             following fields:
@@ -352,13 +355,15 @@ def __init__(
             min_y: The smallest y-coordinate of each ray's source pixel.
             max_y: The largest y-coordinate of each ray's source pixel.
             n_rays_per_image: The number of rays randomly sampled in each camera.
+                `n_rays_per_image` and `n_rays_total` cannot both be defined.
             n_pts_per_ray: The number of points sampled along each ray.
             min_depth: The minimum depth of each ray-point.
             max_depth: The maximum depth of each ray-point.
             n_rays_total: How many rays in total to sample from the cameras provided. The result
                 is as if `n_rays_total_training` cameras were sampled with replacement from the
-                cameras provided and for every camera one ray was sampled. If set, this returns
-                the HeterogeneousRayBundleyBundle with batch_size=n_rays_total.
+                cameras provided and for every camera one ray was sampled. If set returns the
+                HeterogeneousRayBundle with batch_size=n_rays_total.
+                `n_rays_per_image` and `n_rays_total` cannot both be defined.
             unit_directions: whether to normalize direction vectors in ray bundle.
             stratified_sampling: if True, performs stratified sampling in n_pts_per_ray
                 bins for each ray; otherwise takes n_pts_per_ray deterministic points

tests/implicitron/data/overrides.yaml

@@ -59,6 +59,7 @@ raysampler_AdaptiveRaySampler_args:
   n_pts_per_ray_training: 64
   n_pts_per_ray_evaluation: 64
   n_rays_per_image_sampled_from_mask: 1024
+  n_rays_total_training: null
   stratified_point_sampling_training: true
   stratified_point_sampling_evaluation: false
   scene_extent: 8.0