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Commit6fa66f5

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bottlerfacebook-github-bot
authored andcommitted
PLY load normals
Summary: Add ability to load normals when they are present in a PLY file.Reviewed By: nikhilaraviDifferential Revision: D26458971fbshipit-source-id: 658270b611f7624eab4f5f62ff438038e1d25723
1 parentb314bee commit6fa66f5

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2 files changed

+105
-21
lines changed

2 files changed

+105
-21
lines changed

‎pytorch3d/io/ply_io.py‎

Lines changed: 55 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -780,9 +780,9 @@ def _load_ply_raw(f, path_manager: PathManager) -> Tuple[_PlyHeader, dict]:
780780

781781
def_get_verts_column_indices(
782782
vertex_head:_PlyElementType,
783-
)->Tuple[List[int],Optional[List[int]],float]:
783+
)->Tuple[List[int],Optional[List[int]],float,Optional[List[int]]]:
784784
"""
785-
Get the columns of vertsandverts_colors in the vertex
785+
Get the columns of verts, verts_colors,andverts_normals in the vertex
786786
element of a parsed ply file, together with a color scale factor.
787787
When the colors are in byte format, they are scaled from 0..255 to [0,1].
788788
Otherwise they are not scaled.
@@ -793,11 +793,14 @@ def _get_verts_column_indices(
793793
property double x
794794
property double y
795795
property double z
796+
property double nx
797+
property double ny
798+
property double nz
796799
property uchar red
797800
property uchar green
798801
property uchar blue
799802
800-
then the return value will be ([0,1,2], [6,7,8], 1.0/255)
803+
then the return value will be ([0,1,2], [6,7,8], 1.0/255, [3,4,5])
801804
802805
Args:
803806
vertex_head: as returned from load_ply_raw.
@@ -807,9 +810,12 @@ def _get_verts_column_indices(
807810
color_idxs: List[int] of 3 color columns if they are present,
808811
otherwise None.
809812
color_scale: value to scale colors by.
813+
normal_idxs: List[int] of 3 normals columns if they are present,
814+
otherwise None.
810815
"""
811816
point_idxs:List[Optional[int]]= [None,None,None]
812817
color_idxs:List[Optional[int]]= [None,None,None]
818+
normal_idxs:List[Optional[int]]= [None,None,None]
813819
fori,propinenumerate(vertex_head.properties):
814820
ifprop.list_size_typeisnotNone:
815821
raiseValueError("Invalid vertices in file: did not expect list.")
@@ -819,6 +825,9 @@ def _get_verts_column_indices(
819825
forj,nameinenumerate(["red","green","blue"]):
820826
ifprop.name==name:
821827
color_idxs[j]=i
828+
forj,nameinenumerate(["nx","ny","nz"]):
829+
ifprop.name==name:
830+
normal_idxs[j]=i
822831
ifNoneinpoint_idxs:
823832
raiseValueError("Invalid vertices in file.")
824833
color_scale=1.0
@@ -831,21 +840,23 @@ def _get_verts_column_indices(
831840
point_idxs,
832841
NoneifNoneincolor_idxselsecast(List[int],color_idxs),
833842
color_scale,
843+
NoneifNoneinnormal_idxselsecast(List[int],normal_idxs),
834844
)
835845

836846

837847
def_get_verts(
838848
header:_PlyHeader,elements:dict
839-
)->Tuple[torch.Tensor,Optional[torch.Tensor]]:
849+
)->Tuple[torch.Tensor,Optional[torch.Tensor],Optional[torch.Tensor]]:
840850
"""
841-
Get the vertex locationsandcolors from a parsed ply file.
851+
Get the vertex locations, colorsandnormals from a parsed ply file.
842852
843853
Args:
844854
header, elements: as returned from load_ply_raw.
845855
846856
Returns:
847857
verts: FloatTensor of shape (V, 3).
848858
vertex_colors: None or FloatTensor of shape (V, 3).
859+
vertex_normals: None or FloatTensor of shape (V, 3).
849860
"""
850861

851862
vertex=elements.get("vertex",None)
@@ -854,14 +865,16 @@ def _get_verts(
854865
ifnotisinstance(vertex,list):
855866
raiseValueError("Invalid vertices in file.")
856867
vertex_head=next(headforheadinheader.elementsifhead.name=="vertex")
857-
point_idxs,color_idxs,color_scale=_get_verts_column_indices(vertex_head)
868+
point_idxs,color_idxs,color_scale,normal_idxs=_get_verts_column_indices(
869+
vertex_head
870+
)
858871

859872
# Case of no vertices
860873
ifvertex_head.count==0:
861874
verts=torch.zeros((0,3),dtype=torch.float32)
862875
ifcolor_idxsisNone:
863-
returnverts,None
864-
returnverts,torch.zeros((0,3),dtype=torch.float32)
876+
returnverts,None,None
877+
returnverts,torch.zeros((0,3),dtype=torch.float32),None
865878

866879
# Simple case where the only data is the vertices themselves
867880
if (
@@ -870,9 +883,10 @@ def _get_verts(
870883
andvertex[0].ndim==2
871884
andvertex[0].shape[1]==3
872885
):
873-
return_make_tensor(vertex[0],cols=3,dtype=torch.float32),None
886+
return_make_tensor(vertex[0],cols=3,dtype=torch.float32),None,None
874887

875888
vertex_colors=None
889+
vertex_normals=None
876890

877891
iflen(vertex)==1:
878892
# This is the case where the whole vertex element has one type,
@@ -882,6 +896,10 @@ def _get_verts(
882896
vertex_colors=color_scale*torch.tensor(
883897
vertex[0][:,color_idxs],dtype=torch.float32
884898
)
899+
ifnormal_idxsisnotNone:
900+
vertex_normals=torch.tensor(
901+
vertex[0][:,normal_idxs],dtype=torch.float32
902+
)
885903
else:
886904
# The vertex element is heterogeneous. It was read as several arrays,
887905
# part by part, where a part is a set of properties with the same type.
@@ -913,13 +931,22 @@ def _get_verts(
913931
partnum,col=prop_to_partnum_col[color_idxs[color]]
914932
vertex_colors.numpy()[:,color]=vertex[partnum][:,col]
915933
vertex_colors*=color_scale
934+
ifnormal_idxsisnotNone:
935+
vertex_normals=torch.empty(
936+
size=(vertex_head.count,3),dtype=torch.float32
937+
)
938+
foraxisinrange(3):
939+
partnum,col=prop_to_partnum_col[normal_idxs[axis]]
940+
vertex_normals.numpy()[:,axis]=vertex[partnum][:,col]
916941

917-
returnverts,vertex_colors
942+
returnverts,vertex_colors,vertex_normals
918943

919944

920945
def_load_ply(
921946
f,*,path_manager:PathManager
922-
)->Tuple[torch.Tensor,Optional[torch.Tensor],Optional[torch.Tensor]]:
947+
)->Tuple[
948+
torch.Tensor,Optional[torch.Tensor],Optional[torch.Tensor],Optional[torch.Tensor]
949+
]:
923950
"""
924951
Load the data from a .ply file.
925952
@@ -935,10 +962,11 @@ def _load_ply(
935962
verts: FloatTensor of shape (V, 3).
936963
faces: None or LongTensor of vertex indices, shape (F, 3).
937964
vertex_colors: None or FloatTensor of shape (V, 3).
965+
vertex_normals: None or FloatTensor of shape (V, 3).
938966
"""
939967
header,elements=_load_ply_raw(f,path_manager=path_manager)
940968

941-
verts,vertex_colors=_get_verts(header,elements)
969+
verts,vertex_colors,vertex_normals=_get_verts(header,elements)
942970

943971
face=elements.get("face",None)
944972
iffaceisnotNone:
@@ -976,7 +1004,7 @@ def _load_ply(
9761004
iffacesisnotNone:
9771005
_check_faces_indices(faces,max_index=verts.shape[0])
9781006

979-
returnverts,faces,vertex_colors
1007+
returnverts,faces,vertex_colors,vertex_normals
9801008

9811009

9821010
defload_ply(
@@ -1031,7 +1059,7 @@ def load_ply(
10311059

10321060
ifpath_managerisNone:
10331061
path_manager=PathManager()
1034-
verts,faces,_=_load_ply(f,path_manager=path_manager)
1062+
verts,faces,_,_=_load_ply(f,path_manager=path_manager)
10351063
iffacesisNone:
10361064
faces=torch.zeros(0,3,dtype=torch.int64)
10371065

@@ -1211,18 +1239,23 @@ def read(
12111239
ifnotendswith(path,self.known_suffixes):
12121240
returnNone
12131241

1214-
verts,faces,verts_colors=_load_ply(f=path,path_manager=path_manager)
1242+
verts,faces,verts_colors,verts_normals=_load_ply(
1243+
f=path,path_manager=path_manager
1244+
)
12151245
iffacesisNone:
12161246
faces=torch.zeros(0,3,dtype=torch.int64)
12171247

1218-
textures=None
1248+
texture=None
12191249
ifinclude_texturesandverts_colorsisnotNone:
1220-
textures=TexturesVertex([verts_colors.to(device)])
1250+
texture=TexturesVertex([verts_colors.to(device)])
12211251

1252+
ifverts_normalsisnotNone:
1253+
verts_normals= [verts_normals]
12221254
mesh=Meshes(
12231255
verts=[verts.to(device)],
12241256
faces=[faces.to(device)],
1225-
textures=textures,
1257+
textures=texture,
1258+
verts_normals=verts_normals,
12261259
)
12271260
returnmesh
12281261

@@ -1286,12 +1319,14 @@ def read(
12861319
ifnotendswith(path,self.known_suffixes):
12871320
returnNone
12881321

1289-
verts,faces,features=_load_ply(f=path,path_manager=path_manager)
1322+
verts,faces,features,normals=_load_ply(f=path,path_manager=path_manager)
12901323
verts=verts.to(device)
12911324
iffeaturesisnotNone:
12921325
features= [features.to(device)]
1326+
ifnormalsisnotNone:
1327+
normals= [normals.to(device)]
12931328

1294-
pointcloud=Pointclouds(points=[verts],features=features)
1329+
pointcloud=Pointclouds(points=[verts],features=features,normals=normals)
12951330
returnpointcloud
12961331

12971332
defsave(

‎tests/test_io_ply.py‎

Lines changed: 50 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -216,14 +216,18 @@ def test_save_load_meshes(self):
216216
[[0,0,0], [0,0,1], [0,1,0], [1,0,0]],dtype=torch.float32
217217
)
218218
faces=torch.tensor([[0,1,2], [0,2,3]])
219+
normals=torch.tensor(
220+
[[0,1,0], [1,0,0], [1,4,1], [1,0,0]],dtype=torch.float32
221+
)
219222
vert_colors=torch.rand_like(verts)
220223
texture=TexturesVertex(verts_features=[vert_colors])
221224

222-
fordo_texturesinitertools.product([True,False]):
225+
fordo_textures,do_normalsinitertools.product([True,False],[True,False]):
223226
mesh=Meshes(
224227
verts=[verts],
225228
faces=[faces],
226229
textures=textureifdo_textureselseNone,
230+
verts_normals=[normals]ifdo_normalselseNone,
227231
)
228232
device=torch.device("cuda:0")
229233

@@ -236,12 +240,57 @@ def test_save_load_meshes(self):
236240
mesh2=mesh2.cpu()
237241
self.assertClose(mesh2.verts_padded(),mesh.verts_padded())
238242
self.assertClose(mesh2.faces_padded(),mesh.faces_padded())
243+
ifdo_normals:
244+
self.assertTrue(mesh.has_verts_normals())
245+
self.assertTrue(mesh2.has_verts_normals())
246+
self.assertClose(
247+
mesh2.verts_normals_padded(),mesh.verts_normals_padded()
248+
)
249+
else:
250+
self.assertFalse(mesh.has_verts_normals())
251+
self.assertFalse(mesh2.has_verts_normals())
252+
self.assertFalse(torch.allclose(mesh2.verts_normals_padded(),normals))
239253
ifdo_textures:
240254
self.assertIsInstance(mesh2.textures,TexturesVertex)
241255
self.assertClose(mesh2.textures.verts_features_list()[0],vert_colors)
242256
else:
243257
self.assertIsNone(mesh2.textures)
244258

259+
deftest_save_load_with_normals(self):
260+
points=torch.tensor(
261+
[[0,0,0], [0,0,1], [0,1,0], [1,0,0]],dtype=torch.float32
262+
)
263+
normals=torch.tensor(
264+
[[0,1,0], [1,0,0], [1,4,1], [1,0,0]],dtype=torch.float32
265+
)
266+
features=torch.rand_like(points)
267+
268+
fordo_features,do_normalsinitertools.product([True,False], [True,False]):
269+
cloud=Pointclouds(
270+
points=[points],
271+
features=[features]ifdo_featureselseNone,
272+
normals=[normals]ifdo_normalselseNone,
273+
)
274+
device=torch.device("cuda:0")
275+
276+
io=IO()
277+
withNamedTemporaryFile(mode="w",suffix=".ply")asf:
278+
io.save_pointcloud(cloud.cuda(),f.name)
279+
f.flush()
280+
cloud2=io.load_pointcloud(f.name,device=device)
281+
self.assertEqual(cloud2.device,device)
282+
cloud2=cloud2.cpu()
283+
self.assertClose(cloud2.points_padded(),cloud.points_padded())
284+
ifdo_normals:
285+
self.assertClose(cloud2.normals_padded(),cloud.normals_padded())
286+
else:
287+
self.assertIsNone(cloud.normals_padded())
288+
self.assertIsNone(cloud2.normals_padded())
289+
ifdo_features:
290+
self.assertClose(cloud2.features_packed(),features)
291+
else:
292+
self.assertIsNone(cloud2.features_packed())
293+
245294
deftest_save_ply_invalid_shapes(self):
246295
# Invalid vertices shape
247296
withself.assertRaises(ValueError)aserror:

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