back face culling in rasterization

Summary:
Added backface culling as an option to the `raster_settings`. This is needed for the full forward rendering of shapenet meshes with texture (some meshes contain
multiple overlapping segments which have different textures).

For a triangle (v0, v1, v2) define the vectors A = (v1 - v0) and B = (v2 − v0) and use this to calculate the area of the triangle as:
```
area = 0.5 * A  x B
area = 0.5 * ((x1 − x0)(y2 − y0) − (x2 − x0)(y1 − y0))
```
The area will be positive if (v0, v1, v2) are oriented counterclockwise (a front face), and negative if (v0, v1, v2) are oriented clockwise (a back face).

We can reuse the `edge_function` as it already calculates the triangle area.

Reviewed By: jcjohnson

Differential Revision: D20960115

fbshipit-source-id: 2d8a4b9ccfb653df18e79aed8d05c7ec0f057ab1

Author: nikhilaravi

pytorch3d/csrc/rasterize_meshes/rasterize_meshes.cu

@@ -111,7 +111,8 @@ __device__ void CheckPixelInsideFace(
     const float blur_radius,
     const float2 pxy, // Coordinates of the pixel
     const int K,
-    const bool perspective_correct) {
+    const bool perspective_correct,
+    const bool cull_backfaces) {
   const auto v012 = GetSingleFaceVerts(face_verts, face_idx);
   const float3 v0 = thrust::get<0>(v012);
   const float3 v1 = thrust::get<1>(v012);
@@ -124,16 +125,20 @@ __device__ void CheckPixelInsideFace(
 
   // Perform checks and skip if:
   // 1. the face is behind the camera
-  // 2. the face has very small face area
-  // 3. the pixel is outside the face bbox
+  // 2. the face is facing away from the camera
+  // 3. the face has very small face area
+  // 4. the pixel is outside the face bbox
   const float zmax = FloatMax3(v0.z, v1.z, v2.z);
   const bool outside_bbox = CheckPointOutsideBoundingBox(
       v0, v1, v2, sqrt(blur_radius), pxy); // use sqrt of blur for bbox
   const float face_area = EdgeFunctionForward(v0xy, v1xy, v2xy);
+  // Check if the face is visible to the camera.
+  const bool back_face = face_area < 0.0;
   const bool zero_face_area =
       (face_area <= kEpsilon && face_area >= -1.0f * kEpsilon);
 
-  if (zmax < 0 || outside_bbox || zero_face_area) {
+  if (zmax < 0 || cull_backfaces && back_face || outside_bbox ||
+      zero_face_area) {
     return;
   }
 
@@ -191,6 +196,7 @@ __global__ void RasterizeMeshesNaiveCudaKernel(
     const int64_t* num_faces_per_mesh,
     const float blur_radius,
     const bool perspective_correct,
+    const bool cull_backfaces,
     const int N,
     const int H,
     const int W,
@@ -251,7 +257,8 @@ __global__ void RasterizeMeshesNaiveCudaKernel(
           blur_radius,
           pxy,
           K,
-          perspective_correct);
+          perspective_correct,
+          cull_backfaces);
     }
 
     // TODO: make sorting an option as only top k is needed, not sorted values.
@@ -276,7 +283,8 @@ RasterizeMeshesNaiveCuda(
     const int image_size,
     const float blur_radius,
     const int num_closest,
-    const bool perspective_correct) {
+    const bool perspective_correct,
+    const bool cull_backfaces) {
   if (face_verts.ndimension() != 3 || face_verts.size(1) != 3 ||
       face_verts.size(2) != 3) {
     AT_ERROR("face_verts must have dimensions (num_faces, 3, 3)");
@@ -314,6 +322,7 @@ RasterizeMeshesNaiveCuda(
       num_faces_per_mesh.contiguous().data_ptr<int64_t>(),
       blur_radius,
       perspective_correct,
+      cull_backfaces,
       N,
       H,
       W,
@@ -667,6 +676,7 @@ __global__ void RasterizeMeshesFineCudaKernel(
     const float blur_radius,
     const int bin_size,
     const bool perspective_correct,
+    const bool cull_backfaces,
     const int N,
     const int B,
     const int M,
@@ -730,7 +740,8 @@ __global__ void RasterizeMeshesFineCudaKernel(
           blur_radius,
           pxy,
           K,
-          perspective_correct);
+          perspective_correct,
+          cull_backfaces);
     }
 
     // Now we've looked at all the faces for this bin, so we can write
@@ -762,7 +773,8 @@ RasterizeMeshesFineCuda(
     const float blur_radius,
     const int bin_size,
     const int faces_per_pixel,
-    const bool perspective_correct) {
+    const bool perspective_correct,
+    const bool cull_backfaces) {
   if (face_verts.ndimension() != 3 || face_verts.size(1) != 3 ||
       face_verts.size(2) != 3) {
     AT_ERROR("face_verts must have dimensions (num_faces, 3, 3)");
@@ -797,6 +809,7 @@ RasterizeMeshesFineCuda(
       blur_radius,
       bin_size,
       perspective_correct,
+      cull_backfaces,
       N,
       B,
       M,

pytorch3d/csrc/rasterize_meshes/rasterize_meshes.h

@@ -17,7 +17,8 @@ RasterizeMeshesNaiveCpu(
     const int image_size,
     const float blur_radius,
     const int faces_per_pixel,
-    const bool perspective_correct);
+    const bool perspective_correct,
+    const bool cull_backfaces);
 
 #ifdef WITH_CUDA
 std::tuple<at::Tensor, at::Tensor, at::Tensor, at::Tensor>
@@ -28,7 +29,8 @@ RasterizeMeshesNaiveCuda(
     const int image_size,
     const float blur_radius,
     const int num_closest,
-    const bool perspective_correct);
+    const bool perspective_correct,
+    const bool cull_backfaces);
 #endif
 // Forward pass for rasterizing a batch of meshes.
 //
@@ -55,6 +57,14 @@ RasterizeMeshesNaiveCuda(
 //                         coordinates for each pixel; if this is False then
 //                         this function instead returns screen-space
 //                         barycentric coordinates for each pixel.
+//    cull_backfaces: Bool, Whether to only rasterize mesh faces which are
+//                    visible to the camera.  This assumes that vertices of
+//                    front-facing triangles are ordered in an anti-clockwise
+//                    fashion, and triangles that face away from the camera are
+//                    in a clockwise order relative to the current view
+//                    direction. NOTE: This will only work if the mesh faces are
+//                    consistently defined with counter-clockwise ordering when
+//                    viewed from the outside.
 //
 // Returns:
 //    A 4 element tuple of:
@@ -80,7 +90,8 @@ RasterizeMeshesNaive(
     const int image_size,
     const float blur_radius,
     const int faces_per_pixel,
-    const bool perspective_correct) {
+    const bool perspective_correct,
+    const bool cull_backfaces) {
   // TODO: Better type checking.
   if (face_verts.is_cuda()) {
 #ifdef WITH_CUDA
@@ -91,7 +102,8 @@ RasterizeMeshesNaive(
         image_size,
         blur_radius,
         faces_per_pixel,
-        perspective_correct);
+        perspective_correct,
+        cull_backfaces);
 #else
     AT_ERROR("Not compiled with GPU support");
 #endif
@@ -103,7 +115,8 @@ RasterizeMeshesNaive(
         image_size,
         blur_radius,
         faces_per_pixel,
-        perspective_correct);
+        perspective_correct,
+        cull_backfaces);
   }
 }
 
@@ -274,7 +287,8 @@ RasterizeMeshesFineCuda(
     const float blur_radius,
     const int bin_size,
     const int faces_per_pixel,
-    const bool perspective_correct);
+    const bool perspective_correct,
+    const bool cull_backfaces);
 #endif
 // Args:
 //    face_verts: Tensor of shape (F, 3, 3) giving (packed) vertex positions for
@@ -296,6 +310,14 @@ RasterizeMeshesFineCuda(
 //                         coordinates for each pixel; if this is False then
 //                         this function instead returns screen-space
 //                         barycentric coordinates for each pixel.
+//    cull_backfaces: Bool, Whether to only rasterize mesh faces which are
+//                    visible to the camera.  This assumes that vertices of
+//                    front-facing triangles are ordered in an anti-clockwise
+//                    fashion, and triangles that face away from the camera are
+//                    in a clockwise order relative to the current view
+//                    direction. NOTE: This will only work if the mesh faces are
+//                    consistently defined with counter-clockwise ordering when
+//                    viewed from the outside.
 //
 // Returns (same as rasterize_meshes):
 //    A 4 element tuple of:
@@ -321,7 +343,8 @@ RasterizeMeshesFine(
     const float blur_radius,
     const int bin_size,
     const int faces_per_pixel,
-    const bool perspective_correct) {
+    const bool perspective_correct,
+    const bool cull_backfaces) {
   if (face_verts.is_cuda()) {
 #ifdef WITH_CUDA
     return RasterizeMeshesFineCuda(
@@ -331,7 +354,8 @@ RasterizeMeshesFine(
         blur_radius,
         bin_size,
         faces_per_pixel,
-        perspective_correct);
+        perspective_correct,
+        cull_backfaces);
 #else
     AT_ERROR("Not compiled with GPU support");
 #endif
@@ -372,7 +396,14 @@ RasterizeMeshesFine(
 //                         coordinates for each pixel; if this is False then
 //                         this function instead returns screen-space
 //                         barycentric coordinates for each pixel.
-//
+//    cull_backfaces: Bool, Whether to only rasterize mesh faces which are
+//                    visible to the camera.  This assumes that vertices of
+//                    front-facing triangles are ordered in an anti-clockwise
+//                    fashion, and triangles that face away from the camera are
+//                    in a clockwise order relative to the current view
+//                    direction. NOTE: This will only work if the mesh faces are
+//                    consistently defined with counter-clockwise ordering when
+//                    viewed from the outside.
 //
 // Returns:
 //    A 4 element tuple of:
@@ -400,7 +431,8 @@ RasterizeMeshes(
     const int faces_per_pixel,
     const int bin_size,
     const int max_faces_per_bin,
-    const bool perspective_correct) {
+    const bool perspective_correct,
+    const bool cull_backfaces) {
   if (bin_size > 0 && max_faces_per_bin > 0) {
     // Use coarse-to-fine rasterization
     auto bin_faces = RasterizeMeshesCoarse(
@@ -418,7 +450,8 @@ RasterizeMeshes(
         blur_radius,
         bin_size,
         faces_per_pixel,
-        perspective_correct);
+        perspective_correct,
+        cull_backfaces);
   } else {
     // Use the naive per-pixel implementation
     return RasterizeMeshesNaive(
@@ -428,6 +461,7 @@ RasterizeMeshes(
         image_size,
         blur_radius,
         faces_per_pixel,
-        perspective_correct);
+        perspective_correct,
+        cull_backfaces);
   }
 }

pytorch3d/csrc/rasterize_meshes/rasterize_meshes_cpu.cpp

@@ -107,7 +107,8 @@ RasterizeMeshesNaiveCpu(
     int image_size,
     const float blur_radius,
     const int faces_per_pixel,
-    const bool perspective_correct) {
+    const bool perspective_correct,
+    const bool cull_backfaces) {
   if (face_verts.ndimension() != 3 || face_verts.size(1) != 3 ||
       face_verts.size(2) != 3) {
     AT_ERROR("face_verts must have dimensions (num_faces, 3, 3)");
@@ -184,8 +185,13 @@ RasterizeMeshesNaiveCpu(
           const vec2<float> v1(x1, y1);
           const vec2<float> v2(x2, y2);
 
-          // Skip faces with zero area.
           const float face_area = face_areas_a[f];
+          const bool back_face = face_area < 0.0;
+          // Check if the face is visible to the camera.
+          if (cull_backfaces && back_face) {
+            continue;
+          }
+          // Skip faces with zero area.
           if (face_area <= kEpsilon && face_area >= -1.0f * kEpsilon) {
             continue;
           }

pytorch3d/io/obj_io.py

@@ -140,16 +140,16 @@ def load_obj(f_obj, load_textures=True):
     If there are faces with more than 3 vertices
     they are subdivided into triangles. Polygonal faces are assummed to have
     vertices ordered counter-clockwise so the (right-handed) normal points
-    into the screen e.g. a proper rectangular face would be specified like this:
+    out of the screen e.g. a proper rectangular face would be specified like this:
     ::
         0_________1
         |         |
         |         |
         3 ________2
 
-    The face would be split into two triangles: (0, 1, 2) and (0, 2, 3),
-    both of which are also oriented clockwise and have normals
-    pointing into the screen.
+    The face would be split into two triangles: (0, 2, 1) and (0, 3, 2),
+    both of which are also oriented counter-clockwise and have normals
+    pointing out of the screen.
 
     Args:
         f: A file-like object (with methods read, readline, tell, and seek),