About

minimal_pytorch_rasterizer is a CUDA non-differentiable mesh rasterization library for pytorch tensors with python bindings.

It projects mesh to image using pinhole camera model. Vertices could have any number of features (channels). Library also estimates normals for mesh visualization.

A mesh with 6890 vertices and 13776 faces is rasterized on 1000x1000 image in less than 1ms on 2080ti GPU. Check timings here.

The results are consistent with nvdiffrast output. Check comparison here.

Example

Visualize z buffer and normals of cube:

import minimal_pytorch_rasterizer as mpr
import torch
import cv2
import numpy as np


dtype = torch.float32
device = torch.device('cuda:0')

vertices = torch.tensor([
        [0, 0, 0], [1, 0, 0], [1, 1, 0], [0, 1, 0],
        [0, 1, 1], [1, 1, 1], [1, 0, 1], [0, 0, 1]
    ], dtype=dtype, device=device)

faces = torch.tensor([
        [0, 2, 1], [0, 3, 2], [2, 3, 4], [2, 4, 5], [1, 2, 5], [1, 5, 6],
        [0, 7, 4], [0, 4, 3], [5, 4, 7], [5, 7, 6], [0, 6, 7], [0, 1, 6]
    ], dtype=torch.int32, device=device)

R = torch.tensor(cv2.Rodrigues(np.array([0.5, 0.8, 0.2]))[0], dtype=dtype, device=device)
t = torch.tensor([-0.5, -0.5, 1.3], dtype=dtype, device=device)
vertices = vertices @ R.T + t

pinhole2d = mpr.Pinhole2D(
    fx=250, fy=200,
    cx=160, cy=120,
    w=320, h=240,
)

z_buffer = mpr.project_mesh(
    vertices=vertices,
    faces=faces,
    vertice_values=vertices[:, [2]],  # take z coordinate as values
    pinhole=pinhole2d
)
vis_z_buffer_cpu = mpr.vis_z_buffer(z_buffer)
cv2.imwrite('./depth.png', vis_z_buffer_cpu)


coords, normals = mpr.estimate_normals(
    vertices=vertices,
    faces=faces,
    pinhole=pinhole2d
)
vis_normals_cpu = mpr.vis_normals(coords, normals)
cv2.imwrite('./normals.png', vis_normals_cpu)

Will produce:

Installation

• pip intall . or ./setup.sh
• To build for custom cuda arches set env variable: export TORCH_CUDA_ARCH_LIST="Pascal Turing". This env variable is used here.
• Possible intallation errors:
  • packedpacked_accessor32 in error msgs means you have pytorch version < 1.3
  • Errors caused by pytorch internal header files could mean that you have pytorch cuda version (provided by cudatoolkit) and nvcc cuda version mismatch
• Docker environment to run comparison notebook is provided:
  • Install Docker, nvidia-docker, set nvidia your default runtime for docker
  • Build docker image: make build
  • Enter docker container: make run
  • Run jupyter
• Tested till pytorch 1.8
• torch.float32 or torch.float64 dtypes are supported, torch.float16 is not