vchoutas / torch-mesh-isect Goto Github PK

License: Other

C++ 7.17% Python 36.50% Cuda 56.33%

torch-mesh-isect's Introduction

Detecting & Penalizing Mesh Intersections

This package provides a PyTorch module that can efficiently (1) detect and (2) penalize (self-)intersections for a triangular mesh.

License
Description
Installation
Examples
Citation
Contact

License

Software Copyright License for non-commercial scientific research purposes. Please read carefully the terms and conditions and any accompanying documentation before you download and/or use the SMPL-X/SMPLify-X model, data and software, (the "Model & Software"), including 3D meshes, blend weights, blend shapes, textures, software, scripts, and animations. By downloading and/or using the Model & Software (including downloading, cloning, installing, and any other use of this github repository), you acknowledge that you have read these terms and conditions, understand them, and agree to be bound by them. If you do not agree with these terms and conditions, you must not download and/or use the Model & Software. Any infringement of the terms of this agreement will automatically terminate your rights under this License.

Description

This repository provides a PyTorch wrapper around a CUDA kernel that implements the method described in Maximizing parallelism in the construction of BVHs, octrees, and k-d trees. More specifically, given an input mesh it builds a BVH tree for each one and queries it for self-intersections. Moreover, we provide a conical 3D distance field based loss for resolving the interpenetrations, as in Capturing Hands in Action using Discriminative Salient Points and Physics Simulation.

Please note that in the current implementation, for batching one needs to provide meshes with the same number of faces. Moreover, the code by default works for self-penetrations of a body mesh. The module can be used also for inter-penetrations of different meshes - for this the easiest and naive approach (without additional bookkeeping) is to fuse all meshes in a single mesh and treat inter-penetrations as self-penetrations.

Installation

Before installing anything please make sure to set the environment variable $CUDA_SAMPLES_INC to the path that contains the header helper_math.h, which can be found in the repo CUDA Samples repository. To install the module run the following commands:

1. Clone this repository

git clone https://github.com/vchoutas/torch-mesh-isect
cd torch-mesh-isect

2. Install the dependencies

pip install -r requirements.txt

3. Run the setup.py script

python setup.py install

Examples

Collision Detection: Given an input mesh file, detect and plot all the collisions. Use:
```
python examples/detect_and_plot_collisions.py PATH_TO_MESH
```
Batch Collision resolution: Resolve self-penetrations for a batch of body models. To run use:
```
WEIGHT=0.001
python examples/batch_smpl_untangle.py --coll_loss_weight=$WEIGHT --model_folder=$MODEL_PARENT_FOLDER --part_segm_fn=$PATH_part_segm_fn 
--param_fn PKL_FN1 PKL_FN2 ... PKL_FNN  
```
where PKL_FN* are the filenames of the .pkl files that can be downloaded here and contain the parameters for each body model.

For batch_smpl_untangle:
- To download the SMPL body model please see the directions for downloding and for specific placing in folder structure and renaming.
- The file for the part_segm_fn argument for SMPL can be downloaded here.

Dependencies

PyTorch

Example dependencies

SMPL-X

Optional Dependencies

Trimesh for loading triangular meshes
Pyrender for visualization

The code has been tested with Python 3.6, CUDA 10.0, CuDNN 7.3 and PyTorch 1.0.

Citation

If you find this code useful in your research please cite the relevant work(s) of the following list, for detecting and penalizing mesh intersections accordingly:

@inproceedings{Karras:2012:MPC:2383795.2383801,
    author = {Karras, Tero},
    title = {Maximizing Parallelism in the Construction of BVHs, Octrees, and K-d Trees},
    booktitle = {Proceedings of the Fourth ACM SIGGRAPH / Eurographics Conference on High-Performance Graphics},
    year = {2012},
    pages = {33--37},
    numpages = {5},
    url = {https://doi.org/10.2312/EGGH/HPG12/033-037}, 
    doi = {10.2312/EGGH/HPG12/033-037},
    publisher = {Eurographics Association}
}

@article{Tzionas:IJCV:2016, title = {Capturing Hands in Action using Discriminative Salient Points and Physics Simulation},
    author = {Tzionas, Dimitrios and Ballan, Luca and Srikantha, Abhilash and Aponte, Pablo and Pollefeys, Marc and Gall, Juergen},
    journal = {International Journal of Computer Vision (IJCV)},
    volume = {118},
    number = {2},
    pages = {172--193},
    month = jun,
    year = {2016},
    url = {https://doi.org/10.1007/s11263-016-0895-4}, 
    month_numeric = {6} 
}

This repository was originally developed for SMPL-X / SMPLify-X (CVPR 2019), you might be interested in having a look: https://smpl-x.is.tue.mpg.de.

Contact

The code of this repository was implemented by Vassilis Choutas.

For questions, please contact [email protected].

For commercial licensing (and all related questions for business applications), please contact [email protected]. Please note that the method for this component has been patented by NVidia and a license needs to be obtained also by them.

torch-mesh-isect's People

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torch-mesh-isect's Issues

Segmentation fault (core dumped)

Hi, @vchoutas
Thanks for your awesome work.

When I try to run your code, I get following error:

Number of triangles = 13776 Segmentation fault (core dumped)
Do you know what happened?

RuntimeError: after reduction step 1: cudaErrorInvalidDevice: invalid device ordinal

python smplifyx/main.py --config cfg_files/fit_smpl.yaml --data_folder input --output_folder output --visualize=True --model_folder models --vposer_ckpt vposer_v1_0 --part_segm_fn smplx_parts_segm.pkl --gender male
Processing: input/images/63f28b0b-765a-440f-9aad-f11bcd64dd4c.jpg
Found Trained Model: vposer_v1_0/snapshots/TR00_E096.pt
/home/arash/Desktop/SMPLX/smplify-x/smplifyx/optimizers/lbfgs_ls.py:238: UserWarning: This overload of add_ is deprecated:
        add_(Number alpha, Tensor other)
Consider using one of the following signatures instead:
        add_(Tensor other, *, Number alpha) (Triggered internally at  /opt/conda/conda-bld/pytorch_1627336316785/work/torch/csrc/utils/python_arg_parser.cpp:1005.)
  p.data.add_(step_size, update[offset:offset + numel].view_as(p.data))
Camera initialization done after 3.4924
Camera initialization final loss 1970.4176
Stage 000 done after 1.6123 seconds                                                                                                                              
Stage 001 done after 1.2765 seconds                                                                                                                              
Stage:  50%|███████████████████████████████████████████████████████████▌                                                           | 2/4 [00:02<00:02,  1.50s/it]
Orientation:   0%|                                                                                                                         | 0/1 [00:02<?, ?it/s]
Traceback (most recent call last):
  File "smplifyx/main.py", line 272, in <module>
    main(**args)
  File "smplifyx/main.py", line 262, in main
    **args)
  File "/home/arash/Desktop/SMPLX/smplify-x/smplifyx/fit_single_frame.py", line 444, in fit_single_frame
    use_vposer=use_vposer)
  File "/home/arash/Desktop/SMPLX/smplify-x/smplifyx/fitting.py", line 175, in run_fitting
    loss = optimizer.step(closure)
  File "/home/arash/anaconda3/envs/scratch/lib/python3.7/site-packages/torch/optim/optimizer.py", line 89, in wrapper
    return func(*args, **kwargs)
  File "/home/arash/Desktop/SMPLX/smplify-x/smplifyx/optimizers/lbfgs_ls.py", line 280, in step
    orig_loss = closure()
  File "/home/arash/Desktop/SMPLX/smplify-x/smplifyx/fitting.py", line 253, in fitting_func
    **kwargs)
  File "/home/arash/anaconda3/envs/scratch/lib/python3.7/site-packages/torch/nn/modules/module.py", line 889, in _call_impl
    result = self.forward(*input, **kwargs)
  File "/home/arash/Desktop/SMPLX/smplify-x/smplifyx/fitting.py", line 434, in forward
    collision_idxs = self.search_tree(triangles)
  File "/home/arash/anaconda3/envs/scratch/lib/python3.7/site-packages/torch/nn/modules/module.py", line 889, in _call_impl
    result = self.forward(*input, **kwargs)
  File "/home/arash/anaconda3/envs/scratch/lib/python3.7/site-packages/mesh_intersection-0.1.0-py3.7-linux-x86_64.egg/mesh_intersection/bvh_search_tree.py", line 56, in forward
    return BVHFunction.apply(triangles)
  File "/home/arash/anaconda3/envs/scratch/lib/python3.7/site-packages/torch/autograd/grad_mode.py", line 27, in decorate_context
    return func(*args, **kwargs)
  File "/home/arash/anaconda3/envs/scratch/lib/python3.7/site-packages/mesh_intersection-0.1.0-py3.7-linux-x86_64.egg/mesh_intersection/bvh_search_tree.py", line 39, in forward
    max_collisions=BVHFunction.max_collisions)
RuntimeError: after reduction step 1: cudaErrorInvalidDevice: invalid device ordinal

I am getting the above error when trying to run smplify-x project using the interpenetration set to True. My CUDA version is 11.3 and torch correctly detects my cuda installation. I have also tried changing the device = torch.device('cuda:0') in all places and then compiling mesh_intersection but that doesn't work either. Let me know how I can check what the device bvh is using and how I can change it. Thanks

Edit 1:
I checked my cuda device number (ordinal) just before this line max_collisions=BVHFunction.max_collisions where the error was, the cuda current device number is set to 0 which is correct but i am still getting the error

Can't install successfully on windows

I'm having trouble getting this to work on Windows. I get these errors when running setup.py

`src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: identifier "start" is undefined

src/bvh_cuda_op.cu(945): error: identifier "stop" is undefined

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected a ";"

src/bvh_cuda_op.cu(945): warning: variable "triangles_ptr" was declared but never referenced

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: identifier "start" is undefined

src/bvh_cuda_op.cu(945): error: identifier "stop" is undefined

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

src/bvh_cuda_op.cu(945): error: expected an expression

src/bvh_cuda_op.cu(945): error: "#" not expected here

Error limit reached.
100 errors detected in the compilation of "C:/Users/fitzgcon/AppData/Local/Temp/1/tmpxft_00001d58_00000000-10_bvh_cuda_op.cpp1.ii".
Compilation terminated.
error: command 'C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.2\bin\nvcc.exe' failed with exit status 1`

error: command '/usr/bin/gcc' failed with exit code 1

cannot install in win10 and python3.6

env：
Win10，Python3.6 cannot install

install output log：
running install
running bdist_egg
running egg_info
writing mesh_intersection.egg-info\PKG-INFO
writing dependency_links to mesh_intersection.egg-info\dependency_links.txt
writing requirements to mesh_intersection.egg-info\requires.txt
writing top-level names to mesh_intersection.egg-info\top_level.txt
reading manifest file 'mesh_intersection.egg-info\SOURCES.txt'
writing manifest file 'mesh_intersection.egg-info\SOURCES.txt'
installing library code to build\bdist.win-amd64\egg
running install_lib
running build_py
running build_ext
C:\ProgramData\Anaconda3\lib\site-packages\torch\utils\cpp_extension.py:270: UserWarning: Error checking compiler version for cl: 'utf-8' codec can't decode byte 0xd3 in position 0: invalid continuation byte
warnings.warn('Error checking compiler version for {}: {}'.format(compiler, error))
building 'bvh_cuda' extension
Emitting ninja build file E:\github\torch-mesh-isect\build\temp.win-amd64-3.7\Release\build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/1] C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.0\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\torch\csrc\api\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\TH -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\THC -Iinclude -I -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\torch\csrc\api\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\TH -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.0\include" -IC:\ProgramData\Anaconda3\include -IC:\ProgramData\Anaconda3\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.26.28801\ATLMFC\include" "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.26.28801\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\cppwinrt" -c E:\github\torch-mesh-isect\src\bvh_cuda_op.cu -o E:\github\torch-mesh-isect\build\temp.win-amd64-3.7\Release\src/bvh_cuda_op.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -DPRINT_TIMINGS=0 -DDEBUG_PRINT=0 -DERROR_CHECKING=1 -DCOLLISION_ORDERING=1 -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=bvh_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_75,code=sm_75
FAILED: E:/github/torch-mesh-isect/build/temp.win-amd64-3.7/Release/src/bvh_cuda_op.obj
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.0\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\torch\csrc\api\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\TH -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\THC -Iinclude -I -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\torch\csrc\api\include -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\TH -IC:\ProgramData\Anaconda3\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.0\include" -IC:\ProgramData\Anaconda3\include -IC:\ProgramData\Anaconda3\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.26.28801\ATLMFC\include" "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.26.28801\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\cppwinrt" -c E:\github\torch-mesh-isect\src\bvh_cuda_op.cu -o E:\github\torch-mesh-isect\build\temp.win-amd64-3.7\Release\src/bvh_cuda_op.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -DPRINT_TIMINGS=0 -DDEBUG_PRINT=0 -DERROR_CHECKING=1 -DCOLLISION_ORDERING=1 -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=bvh_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_75,code=sm_75
E:/github/torch-mesh-isect/src/bvh_cuda_op.cu(945): error: "#" not expected here

E:/github/torch-mesh-isect/src/bvh_cuda_op.cu(945): error: expected an expression

E:/github/torch-mesh-isect/src/bvh_cuda_op.cu(945): error: "#" not expected here