# Source code for pytorch3d.loss.point_mesh_distance

```
# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the BSD-style license found in the
# LICENSE file in the root directory of this source tree.
# pyre-unsafe
from pytorch3d import _C
from pytorch3d.structures import Meshes, Pointclouds
from torch.autograd import Function
from torch.autograd.function import once_differentiable
"""
This file defines distances between meshes and pointclouds.
The functions make use of the definition of a distance between a point and
an edge segment or the distance of a point and a triangle (face).
The exact mathematical formulations and implementations of these
distances can be found in `csrc/utils/geometry_utils.cuh`.
"""
_DEFAULT_MIN_TRIANGLE_AREA: float = 5e-3
# PointFaceDistance
class _PointFaceDistance(Function):
"""
Torch autograd Function wrapper PointFaceDistance Cuda implementation
"""
@staticmethod
def forward(
ctx,
points,
points_first_idx,
tris,
tris_first_idx,
max_points,
min_triangle_area=_DEFAULT_MIN_TRIANGLE_AREA,
):
"""
Args:
ctx: Context object used to calculate gradients.
points: FloatTensor of shape `(P, 3)`
points_first_idx: LongTensor of shape `(N,)` indicating the first point
index in each example in the batch
tris: FloatTensor of shape `(T, 3, 3)` of triangular faces. The `t`-th
triangular face is spanned by `(tris[t, 0], tris[t, 1], tris[t, 2])`
tris_first_idx: LongTensor of shape `(N,)` indicating the first face
index in each example in the batch
max_points: Scalar equal to maximum number of points in the batch
min_triangle_area: (float, defaulted) Triangles of area less than this
will be treated as points/lines.
Returns:
dists: FloatTensor of shape `(P,)`, where `dists[p]` is the squared
euclidean distance of `p`-th point to the closest triangular face
in the corresponding example in the batch
idxs: LongTensor of shape `(P,)` indicating the closest triangular face
in the corresponding example in the batch.
`dists[p]` is
`d(points[p], tris[idxs[p], 0], tris[idxs[p], 1], tris[idxs[p], 2])`
where `d(u, v0, v1, v2)` is the distance of point `u` from the triangular
face `(v0, v1, v2)`
"""
dists, idxs = _C.point_face_dist_forward(
points,
points_first_idx,
tris,
tris_first_idx,
max_points,
min_triangle_area,
)
ctx.save_for_backward(points, tris, idxs)
ctx.min_triangle_area = min_triangle_area
return dists
@staticmethod
@once_differentiable
def backward(ctx, grad_dists):
grad_dists = grad_dists.contiguous()
points, tris, idxs = ctx.saved_tensors
min_triangle_area = ctx.min_triangle_area
grad_points, grad_tris = _C.point_face_dist_backward(
points, tris, idxs, grad_dists, min_triangle_area
)
return grad_points, None, grad_tris, None, None, None
point_face_distance = _PointFaceDistance.apply
# FacePointDistance
class _FacePointDistance(Function):
"""
Torch autograd Function wrapper FacePointDistance Cuda implementation
"""
@staticmethod
def forward(
ctx,
points,
points_first_idx,
tris,
tris_first_idx,
max_tris,
min_triangle_area=_DEFAULT_MIN_TRIANGLE_AREA,
):
"""
Args:
ctx: Context object used to calculate gradients.
points: FloatTensor of shape `(P, 3)`
points_first_idx: LongTensor of shape `(N,)` indicating the first point
index in each example in the batch
tris: FloatTensor of shape `(T, 3, 3)` of triangular faces. The `t`-th
triangular face is spanned by `(tris[t, 0], tris[t, 1], tris[t, 2])`
tris_first_idx: LongTensor of shape `(N,)` indicating the first face
index in each example in the batch
max_tris: Scalar equal to maximum number of faces in the batch
min_triangle_area: (float, defaulted) Triangles of area less than this
will be treated as points/lines.
Returns:
dists: FloatTensor of shape `(T,)`, where `dists[t]` is the squared
euclidean distance of `t`-th triangular face to the closest point in the
corresponding example in the batch
idxs: LongTensor of shape `(T,)` indicating the closest point in the
corresponding example in the batch.
`dists[t] = d(points[idxs[t]], tris[t, 0], tris[t, 1], tris[t, 2])`,
where `d(u, v0, v1, v2)` is the distance of point `u` from the triangular
face `(v0, v1, v2)`.
"""
dists, idxs = _C.face_point_dist_forward(
points, points_first_idx, tris, tris_first_idx, max_tris, min_triangle_area
)
ctx.save_for_backward(points, tris, idxs)
ctx.min_triangle_area = min_triangle_area
return dists
@staticmethod
@once_differentiable
def backward(ctx, grad_dists):
grad_dists = grad_dists.contiguous()
points, tris, idxs = ctx.saved_tensors
min_triangle_area = ctx.min_triangle_area
grad_points, grad_tris = _C.face_point_dist_backward(
points, tris, idxs, grad_dists, min_triangle_area
)
return grad_points, None, grad_tris, None, None, None
face_point_distance = _FacePointDistance.apply
# PointEdgeDistance
class _PointEdgeDistance(Function):
"""
Torch autograd Function wrapper PointEdgeDistance Cuda implementation
"""
@staticmethod
def forward(ctx, points, points_first_idx, segms, segms_first_idx, max_points):
"""
Args:
ctx: Context object used to calculate gradients.
points: FloatTensor of shape `(P, 3)`
points_first_idx: LongTensor of shape `(N,)` indicating the first point
index for each example in the mesh
segms: FloatTensor of shape `(S, 2, 3)` of edge segments. The `s`-th
edge segment is spanned by `(segms[s, 0], segms[s, 1])`
segms_first_idx: LongTensor of shape `(N,)` indicating the first edge
index for each example in the mesh
max_points: Scalar equal to maximum number of points in the batch
Returns:
dists: FloatTensor of shape `(P,)`, where `dists[p]` is the squared
euclidean distance of `p`-th point to the closest edge in the
corresponding example in the batch
idxs: LongTensor of shape `(P,)` indicating the closest edge in the
corresponding example in the batch.
`dists[p] = d(points[p], segms[idxs[p], 0], segms[idxs[p], 1])`,
where `d(u, v0, v1)` is the distance of point `u` from the edge segment
spanned by `(v0, v1)`.
"""
dists, idxs = _C.point_edge_dist_forward(
points, points_first_idx, segms, segms_first_idx, max_points
)
ctx.save_for_backward(points, segms, idxs)
return dists
@staticmethod
@once_differentiable
def backward(ctx, grad_dists):
grad_dists = grad_dists.contiguous()
points, segms, idxs = ctx.saved_tensors
grad_points, grad_segms = _C.point_edge_dist_backward(
points, segms, idxs, grad_dists
)
return grad_points, None, grad_segms, None, None
point_edge_distance = _PointEdgeDistance.apply
# EdgePointDistance
class _EdgePointDistance(Function):
"""
Torch autograd Function wrapper EdgePointDistance Cuda implementation
"""
@staticmethod
def forward(ctx, points, points_first_idx, segms, segms_first_idx, max_segms):
"""
Args:
ctx: Context object used to calculate gradients.
points: FloatTensor of shape `(P, 3)`
points_first_idx: LongTensor of shape `(N,)` indicating the first point
index for each example in the mesh
segms: FloatTensor of shape `(S, 2, 3)` of edge segments. The `s`-th
edge segment is spanned by `(segms[s, 0], segms[s, 1])`
segms_first_idx: LongTensor of shape `(N,)` indicating the first edge
index for each example in the mesh
max_segms: Scalar equal to maximum number of edges in the batch
Returns:
dists: FloatTensor of shape `(S,)`, where `dists[s]` is the squared
euclidean distance of `s`-th edge to the closest point in the
corresponding example in the batch
idxs: LongTensor of shape `(S,)` indicating the closest point in the
corresponding example in the batch.
`dists[s] = d(points[idxs[s]], edges[s, 0], edges[s, 1])`,
where `d(u, v0, v1)` is the distance of point `u` from the segment
spanned by `(v0, v1)`.
"""
dists, idxs = _C.edge_point_dist_forward(
points, points_first_idx, segms, segms_first_idx, max_segms
)
ctx.save_for_backward(points, segms, idxs)
return dists
@staticmethod
@once_differentiable
def backward(ctx, grad_dists):
grad_dists = grad_dists.contiguous()
points, segms, idxs = ctx.saved_tensors
grad_points, grad_segms = _C.edge_point_dist_backward(
points, segms, idxs, grad_dists
)
return grad_points, None, grad_segms, None, None
edge_point_distance = _EdgePointDistance.apply
[docs]
def point_mesh_edge_distance(meshes: Meshes, pcls: Pointclouds):
"""
Computes the distance between a pointcloud and a mesh within a batch.
Given a pair `(mesh, pcl)` in the batch, we define the distance to be the
sum of two distances, namely `point_edge(mesh, pcl) + edge_point(mesh, pcl)`
`point_edge(mesh, pcl)`: Computes the squared distance of each point p in pcl
to the closest edge segment in mesh and averages across all points in pcl
`edge_point(mesh, pcl)`: Computes the squared distance of each edge segment in mesh
to the closest point in pcl and averages across all edges in mesh.
The above distance functions are applied for all `(mesh, pcl)` pairs in the batch
and then averaged across the batch.
Args:
meshes: A Meshes data structure containing N meshes
pcls: A Pointclouds data structure containing N pointclouds
Returns:
loss: The `point_edge(mesh, pcl) + edge_point(mesh, pcl)` distance
between all `(mesh, pcl)` in a batch averaged across the batch.
"""
if len(meshes) != len(pcls):
raise ValueError("meshes and pointclouds must be equal sized batches")
N = len(meshes)
# packed representation for pointclouds
points = pcls.points_packed() # (P, 3)
points_first_idx = pcls.cloud_to_packed_first_idx()
max_points = pcls.num_points_per_cloud().max().item()
# packed representation for edges
verts_packed = meshes.verts_packed()
edges_packed = meshes.edges_packed()
segms = verts_packed[edges_packed] # (S, 2, 3)
segms_first_idx = meshes.mesh_to_edges_packed_first_idx()
max_segms = meshes.num_edges_per_mesh().max().item()
# point to edge distance: shape (P,)
point_to_edge = point_edge_distance(
points, points_first_idx, segms, segms_first_idx, max_points
)
# weight each example by the inverse of number of points in the example
point_to_cloud_idx = pcls.packed_to_cloud_idx() # (sum(P_i), )
num_points_per_cloud = pcls.num_points_per_cloud() # (N,)
weights_p = num_points_per_cloud.gather(0, point_to_cloud_idx)
# pyre-fixme[58]: `/` is not supported for operand types `float` and `Tensor`.
weights_p = 1.0 / weights_p.float()
point_to_edge = point_to_edge * weights_p
point_dist = point_to_edge.sum() / N
# edge to edge distance: shape (S,)
edge_to_point = edge_point_distance(
points, points_first_idx, segms, segms_first_idx, max_segms
)
# weight each example by the inverse of number of edges in the example
segm_to_mesh_idx = meshes.edges_packed_to_mesh_idx() # (sum(S_n),)
num_segms_per_mesh = meshes.num_edges_per_mesh() # (N,)
weights_s = num_segms_per_mesh.gather(0, segm_to_mesh_idx)
weights_s = 1.0 / weights_s.float()
edge_to_point = edge_to_point * weights_s
edge_dist = edge_to_point.sum() / N
return point_dist + edge_dist
[docs]
def point_mesh_face_distance(
meshes: Meshes,
pcls: Pointclouds,
min_triangle_area: float = _DEFAULT_MIN_TRIANGLE_AREA,
):
"""
Computes the distance between a pointcloud and a mesh within a batch.
Given a pair `(mesh, pcl)` in the batch, we define the distance to be the
sum of two distances, namely `point_face(mesh, pcl) + face_point(mesh, pcl)`
`point_face(mesh, pcl)`: Computes the squared distance of each point p in pcl
to the closest triangular face in mesh and averages across all points in pcl
`face_point(mesh, pcl)`: Computes the squared distance of each triangular face in
mesh to the closest point in pcl and averages across all faces in mesh.
The above distance functions are applied for all `(mesh, pcl)` pairs in the batch
and then averaged across the batch.
Args:
meshes: A Meshes data structure containing N meshes
pcls: A Pointclouds data structure containing N pointclouds
min_triangle_area: (float, defaulted) Triangles of area less than this
will be treated as points/lines.
Returns:
loss: The `point_face(mesh, pcl) + face_point(mesh, pcl)` distance
between all `(mesh, pcl)` in a batch averaged across the batch.
"""
if len(meshes) != len(pcls):
raise ValueError("meshes and pointclouds must be equal sized batches")
N = len(meshes)
# packed representation for pointclouds
points = pcls.points_packed() # (P, 3)
points_first_idx = pcls.cloud_to_packed_first_idx()
max_points = pcls.num_points_per_cloud().max().item()
# packed representation for faces
verts_packed = meshes.verts_packed()
faces_packed = meshes.faces_packed()
tris = verts_packed[faces_packed] # (T, 3, 3)
tris_first_idx = meshes.mesh_to_faces_packed_first_idx()
max_tris = meshes.num_faces_per_mesh().max().item()
# point to face distance: shape (P,)
point_to_face = point_face_distance(
points, points_first_idx, tris, tris_first_idx, max_points, min_triangle_area
)
# weight each example by the inverse of number of points in the example
point_to_cloud_idx = pcls.packed_to_cloud_idx() # (sum(P_i),)
num_points_per_cloud = pcls.num_points_per_cloud() # (N,)
weights_p = num_points_per_cloud.gather(0, point_to_cloud_idx)
# pyre-fixme[58]: `/` is not supported for operand types `float` and `Tensor`.
weights_p = 1.0 / weights_p.float()
point_to_face = point_to_face * weights_p
point_dist = point_to_face.sum() / N
# face to point distance: shape (T,)
face_to_point = face_point_distance(
points, points_first_idx, tris, tris_first_idx, max_tris, min_triangle_area
)
# weight each example by the inverse of number of faces in the example
tri_to_mesh_idx = meshes.faces_packed_to_mesh_idx() # (sum(T_n),)
num_tris_per_mesh = meshes.num_faces_per_mesh() # (N, )
weights_t = num_tris_per_mesh.gather(0, tri_to_mesh_idx)
weights_t = 1.0 / weights_t.float()
face_to_point = face_to_point * weights_t
face_dist = face_to_point.sum() / N
return point_dist + face_dist
```