VoxelGridModule

Summary: Simple wrapper around voxel grids to make them a module

Reviewed By: bottler

Differential Revision: D38829762

fbshipit-source-id: dfee85088fa3c65e396cc7d3bf7ebaaffaadb646

Author: Darijan Gudelj

pytorch3d/implicitron/models/implicit_function/voxel_grid.py

@@ -8,14 +8,23 @@
 This file contains classes that implement Voxel grids, both in their full resolution
 as in the factorized form. There are two factorized forms implemented, Tensor rank decomposition
 or CANDECOMP/PARAFAC (here CP) and Vector Matrix (here VM) factorization from the
-https://arxiv.org/abs/2203.09517.
+TensoRF (https://arxiv.org/abs/2203.09517) paper.
+
+In addition, the module VoxelGridModule implements a trainable instance of one of
+these classes.
+
 """
 
 from dataclasses import dataclass
 from typing import ClassVar, Dict, Optional, Tuple, Type
 
 import torch
-from pytorch3d.implicitron.tools.config import registry, ReplaceableBase
+from pytorch3d.implicitron.tools.config import (
+    Configurable,
+    registry,
+    ReplaceableBase,
+    run_auto_creation,
+)
 from pytorch3d.structures.volumes import VolumeLocator
 
 from .utils import interpolate_line, interpolate_plane, interpolate_volume
@@ -426,3 +435,78 @@ def get_shapes(self) -> Dict[str, Tuple]:
             )
 
         return shape_dict
+
+
+class VoxelGridModule(Configurable, torch.nn.Module):
+    """
+    A wrapper torch.nn.Module for the VoxelGrid classes, which
+    contains parameters that are needed to train the VoxelGrid classes.
+
+    Members:
+        voxel_grid_class_type: The name of the class to use for voxel_grid,
+            which must be available in the registry. Default FullResolutionVoxelGrid.
+        voxel_grid: An instance of `VoxelGridBase`. This is the object which
+            this class wraps.
+        extents: 3-tuple of a form (width, height, depth), denotes the size of the grid
+            in world units.
+        translation: 3-tuple of float. The center of the volume in world units as (x, y, z).
+        init_std: Parameters are initialized using the gaussian distribution
+            with mean=init_mean and std=init_std. Default 0.1
+        init_mean: Parameters are initialized using the gaussian distribution
+            with mean=init_mean and std=init_std. Default 0.
+    """
+
+    voxel_grid_class_type: str = "FullResolutionVoxelGrid"
+    voxel_grid: VoxelGridBase
+
+    extents: Tuple[float, float, float] = 1.0
+    translation: Tuple[float, float, float] = (0.0, 0.0, 0.0)
+
+    init_std: float = 0.1
+    init_mean: float = 0
+
+    def __post_init__(self):
+        super().__init__()
+        run_auto_creation(self)
+        n_grids = 1  # Voxel grid objects are batched. We need only a single grid.
+        shapes = self.voxel_grid.get_shapes()
+        params = {
+            name: torch.normal(
+                mean=torch.zeros((n_grids, *shape)) + self.init_mean,
+                std=self.init_std,
+            )
+            for name, shape in shapes.items()
+        }
+        self.params = torch.nn.ParameterDict(params)
+
+    def forward(self, points: torch.Tensor) -> torch.Tensor:
+        """
+        Evaluates points in the world coordinate frame on the voxel_grid.
+
+        Args:
+            points (torch.Tensor): tensor of points that you want to query
+                of a form (n_points, 3)
+        Returns:
+            torch.Tensor of shape (n_points, n_features)
+        """
+        locator = VolumeLocator(
+            batch_size=1,
+            # The resolution of the voxel grid does not need to be known
+            # to the locator object. It is easiest to fix the resolution of the locator.
+            # In particular we fix it to (2,2,2) so that there is exactly one voxel of the
+            # desired size. The locator object uses (z, y, x) convention for the grid_size,
+            # and this module uses (x, y, z) convention so the order has to be reversed
+            # (irrelevant in this case since they are all equal).
+            # It is (2, 2, 2) because the VolumeLocator object behaves like
+            # align_corners=True, which means that the points are in the corners of
+            # the volume. So in the grid of (2, 2, 2) there is only one voxel.
+            grid_sizes=(2, 2, 2),
+            # The locator object uses (x, y, z) convention for the
+            # voxel size and translation.
+            voxel_size=self.extents,
+            volume_translation=self.translation,
+            device=next(self.params.values()).device,
+        )
+        grid_values = self.voxel_grid.values_type(**self.params)
+        # voxel grids operate with extra n_grids dimension, which we fix to one
+        return self.voxel_grid.evaluate_world(points[None], grid_values, locator)[0]

tests/implicitron/test_voxel_grids.py

@@ -19,6 +19,7 @@
     CPFactorizedVoxelGrid,
     FullResolutionVoxelGrid,
     VMFactorizedVoxelGrid,
+    VoxelGridModule,
 )
 
 from pytorch3d.implicitron.tools.config import expand_args_fields
@@ -198,6 +199,7 @@ def setUp(self):
         expand_args_fields(FullResolutionVoxelGrid)
         expand_args_fields(CPFactorizedVoxelGrid)
         expand_args_fields(VMFactorizedVoxelGrid)
+        expand_args_fields(VoxelGridModule)
 
     def _interpolate_1D(
         self, points: torch.Tensor, vectors: torch.Tensor
@@ -585,3 +587,27 @@ def test(cls, **kwargs):
             n_features=10,
             n_components=3,
         )
+
+    def test_voxel_grid_module_location(self, n_times=10):
+        """
+        This checks the module uses locator correctly etc..
+
+        If we know that voxel grids work for (x, y, z) in local coordinates
+        to test if the VoxelGridModule does not have permuted dimensions we
+        create local coordinates, pass them through verified voxelgrids and
+        compare the result with the result that we get when we convert
+        coordinates to world and pass them through the VoxelGridModule
+        """
+        for _ in range(n_times):
+            extents = tuple(torch.randint(1, 50, size=(3,)).tolist())
+
+            grid = VoxelGridModule(extents=extents)
+            local_point = torch.rand(1, 3) * 2 - 1
+            world_point = local_point * torch.tensor(extents) / 2
+            grid_values = grid.voxel_grid.values_type(**grid.params)
+
+            assert torch.allclose(
+                grid(world_point)[0, 0],
+                grid.voxel_grid.evaluate_local(local_point[None], grid_values)[0, 0, 0],
+                rtol=0.0001,
+            )