Boolean indexing of cameras

Summary: Reasonable to expect bool indexing.

Reviewed By: bottler, kjchalup

Differential Revision: D38741446

fbshipit-source-id: 22b607bf13110043c5624196c66ca1484fdbce6c

Author: shapovalov

pytorch3d/renderer/cameras.py

@@ -385,31 +385,45 @@ def get_image_size(self):
         return self.image_size if hasattr(self, "image_size") else None
 
     def __getitem__(
-        self, index: Union[int, List[int], torch.LongTensor]
+        self, index: Union[int, List[int], torch.BoolTensor, torch.LongTensor]
     ) -> "CamerasBase":
         """
         Override for the __getitem__ method in TensorProperties which needs to be
         refactored.
 
         Args:
-            index: an int/list/long tensor used to index all the fields in the cameras given by
-                self._FIELDS.
+            index: an integer index, list/tensor of integer indices, or tensor of boolean
+                indicators used to filter all the fields in the cameras given by self._FIELDS.
         Returns:
-            if `index` is an index int/list/long tensor return an instance of the current
-            cameras class with only the values at the selected index.
+            an instance of the current cameras class with only the values at the selected index.
         """
 
         kwargs = {}
 
-        # pyre-fixme[16]: Module `cuda` has no attribute `LongTensor`.
-        if not isinstance(index, (int, list, torch.LongTensor, torch.cuda.LongTensor)):
-            msg = "Invalid index type, expected int, List[int] or torch.LongTensor; got %r"
+        tensor_types = {
+            "bool": (torch.BoolTensor, torch.cuda.BoolTensor),
+            "long": (torch.LongTensor, torch.cuda.LongTensor),
+        }
+        if not isinstance(
+            index, (int, list, *tensor_types["bool"], *tensor_types["long"])
+        ) or (
+            isinstance(index, list)
+            and not all(isinstance(i, int) and not isinstance(i, bool) for i in index)
+        ):
+            msg = (
+                "Invalid index type, expected int, List[int] or Bool/LongTensor; got %r"
+            )
             raise ValueError(msg % type(index))
 
         if isinstance(index, int):
             index = [index]
 
-        if max(index) >= len(self):
+        if isinstance(index, tensor_types["bool"]):
+            if index.ndim != 1 or index.shape[0] != len(self):
+                raise ValueError(
+                    f"Boolean index of shape {index.shape} does not match cameras"
+                )
+        elif max(index) >= len(self):
             raise ValueError(f"Index {max(index)} is out of bounds for select cameras")
 
         for field in self._FIELDS:

pytorch3d/structures/meshes.py

@@ -472,7 +472,9 @@ def _set_verts_normals(self, verts_normals) -> None:
     def __len__(self) -> int:
         return self._N
 
-    def __getitem__(self, index) -> "Meshes":
+    def __getitem__(
+        self, index: Union[int, List[int], slice, torch.BoolTensor, torch.LongTensor]
+    ) -> "Meshes":
         """
         Args:
             index: Specifying the index of the mesh to retrieve.

pytorch3d/structures/pointclouds.py

@@ -360,7 +360,10 @@ def _parse_auxiliary_input_list(
     def __len__(self) -> int:
         return self._N
 
-    def __getitem__(self, index) -> "Pointclouds":
+    def __getitem__(
+        self,
+        index: Union[int, List[int], slice, torch.BoolTensor, torch.LongTensor],
+    ) -> "Pointclouds":
         """
         Args:
             index: Specifying the index of the cloud to retrieve.

pytorch3d/structures/volumes.py

@@ -501,7 +501,10 @@ def __len__(self) -> int:
         return self._densities.shape[0]
 
     def __getitem__(
-        self, index: Union[int, List[int], Tuple[int], slice, torch.Tensor]
+        self,
+        index: Union[
+            int, List[int], Tuple[int], slice, torch.BoolTensor, torch.LongTensor
+        ],
     ) -> "Volumes":
         """
         Args:

pytorch3d/transforms/transform3d.py

@@ -181,7 +181,7 @@ def __len__(self) -> int:
         return self.get_matrix().shape[0]
 
     def __getitem__(
-        self, index: Union[int, List[int], slice, torch.Tensor]
+        self, index: Union[int, List[int], slice, torch.BoolTensor, torch.LongTensor]
     ) -> "Transform3d":
         """
         Args:

tests/test_cameras.py

@@ -884,7 +884,8 @@ def test_camera_class_init(self):
         self.assertTrue(new_cam.device == device)
 
     def test_getitem(self):
-        R_matrix = torch.randn((6, 3, 3))
+        N_CAMERAS = 6
+        R_matrix = torch.randn((N_CAMERAS, 3, 3))
         cam = FoVPerspectiveCameras(znear=10.0, zfar=100.0, R=R_matrix)
 
         # Check get item returns an instance of the same class
@@ -908,22 +909,39 @@ def test_getitem(self):
         self.assertClose(c012.R, R_matrix[0:3, ...])
 
         # Check torch.LongTensor index
-        index = torch.tensor([1, 3, 5], dtype=torch.int64)
+        SLICE = [1, 3, 5]
+        index = torch.tensor(SLICE, dtype=torch.int64)
         c135 = cam[index]
         self.assertEqual(len(c135), 3)
         self.assertClose(c135.zfar, torch.tensor([100.0] * 3))
         self.assertClose(c135.znear, torch.tensor([10.0] * 3))
-        self.assertClose(c135.R, R_matrix[[1, 3, 5], ...])
+        self.assertClose(c135.R, R_matrix[SLICE, ...])
+
+        # Check torch.BoolTensor index
+        bool_slice = [i in SLICE for i in range(N_CAMERAS)]
+        index = torch.tensor(bool_slice, dtype=torch.bool)
+        c135 = cam[index]
+        self.assertEqual(len(c135), 3)
+        self.assertClose(c135.zfar, torch.tensor([100.0] * 3))
+        self.assertClose(c135.znear, torch.tensor([10.0] * 3))
+        self.assertClose(c135.R, R_matrix[SLICE, ...])
 
         # Check errors with get item
         with self.assertRaisesRegex(ValueError, "out of bounds"):
-            cam[6]
+            cam[N_CAMERAS]
+
+        with self.assertRaisesRegex(ValueError, "does not match cameras"):
+            index = torch.tensor([1, 0, 1], dtype=torch.bool)
+            cam[index]
 
         with self.assertRaisesRegex(ValueError, "Invalid index type"):
             cam[slice(0, 1)]
 
         with self.assertRaisesRegex(ValueError, "Invalid index type"):
-            index = torch.tensor([1, 3, 5], dtype=torch.float32)
+            cam[[True, False]]
+
+        with self.assertRaisesRegex(ValueError, "Invalid index type"):
+            index = torch.tensor(SLICE, dtype=torch.float32)
             cam[index]
 
     def test_get_full_transform(self):