Add "max" point reduction for chamfer distance

Summary:
* Adds a "max" option for the point_reduction input to the
  chamfer_distance function.
* When combining the x and y directions, maxes the losses instead
  of summing them when point_reduction="max".
* Moves batch reduction to happen after the directions are
  combined.
* Adds test_chamfer_point_reduction_max and
  test_single_directional_chamfer_point_reduction_max tests.

Fixes  #1838

Reviewed By: bottler

Differential Revision: D60614661

fbshipit-source-id: 7879816acfda03e945bada951b931d2c522756eb

Author: rchen152

pytorch3d/loss/chamfer.py

@@ -27,8 +27,10 @@ def _validate_chamfer_reduction_inputs(
     """
     if batch_reduction is not None and batch_reduction not in ["mean", "sum"]:
         raise ValueError('batch_reduction must be one of ["mean", "sum"] or None')
-    if point_reduction is not None and point_reduction not in ["mean", "sum"]:
-        raise ValueError('point_reduction must be one of ["mean", "sum"] or None')
+    if point_reduction is not None and point_reduction not in ["mean", "sum", "max"]:
+        raise ValueError(
+            'point_reduction must be one of ["mean", "sum", "max"] or None'
+        )
     if point_reduction is None and batch_reduction is not None:
         raise ValueError("Batch reduction must be None if point_reduction is None")
 
@@ -80,7 +82,6 @@ def _chamfer_distance_single_direction(
     x_normals,
     y_normals,
     weights,
-    batch_reduction: Union[str, None],
     point_reduction: Union[str, None],
     norm: int,
     abs_cosine: bool,
@@ -103,11 +104,6 @@ def _chamfer_distance_single_direction(
             raise ValueError("weights cannot be negative.")
         if weights.sum() == 0.0:
             weights = weights.view(N, 1)
-            if batch_reduction in ["mean", "sum"]:
-                return (
-                    (x.sum((1, 2)) * weights).sum() * 0.0,
-                    (x.sum((1, 2)) * weights).sum() * 0.0,
-                )
             return ((x.sum((1, 2)) * weights) * 0.0, (x.sum((1, 2)) * weights) * 0.0)
 
     cham_norm_x = x.new_zeros(())
@@ -135,7 +131,10 @@ def _chamfer_distance_single_direction(
         if weights is not None:
             cham_norm_x *= weights.view(N, 1)
 
-    if point_reduction is not None:
+    if point_reduction == "max":
+        assert not return_normals
+        cham_x = cham_x.max(1).values  # (N,)
+    elif point_reduction is not None:
         # Apply point reduction
         cham_x = cham_x.sum(1)  # (N,)
         if return_normals:
@@ -146,22 +145,34 @@ def _chamfer_distance_single_direction(
             if return_normals:
                 cham_norm_x /= x_lengths_clamped
 
-        if batch_reduction is not None:
-            # batch_reduction == "sum"
-            cham_x = cham_x.sum()
-            if return_normals:
-                cham_norm_x = cham_norm_x.sum()
-            if batch_reduction == "mean":
-                div = weights.sum() if weights is not None else max(N, 1)
-                cham_x /= div
-                if return_normals:
-                    cham_norm_x /= div
-
     cham_dist = cham_x
     cham_normals = cham_norm_x if return_normals else None
     return cham_dist, cham_normals
 
 
+def _apply_batch_reduction(
+    cham_x, cham_norm_x, weights, batch_reduction: Union[str, None]
+):
+    if batch_reduction is None:
+        return (cham_x, cham_norm_x)
+    # batch_reduction == "sum"
+    N = cham_x.shape[0]
+    cham_x = cham_x.sum()
+    if cham_norm_x is not None:
+        cham_norm_x = cham_norm_x.sum()
+    if batch_reduction == "mean":
+        if weights is None:
+            div = max(N, 1)
+        elif weights.sum() == 0.0:
+            div = 1
+        else:
+            div = weights.sum()
+        cham_x /= div
+        if cham_norm_x is not None:
+            cham_norm_x /= div
+    return (cham_x, cham_norm_x)
+
+
 def chamfer_distance(
     x,
     y,
@@ -197,7 +208,8 @@ def chamfer_distance(
         batch_reduction: Reduction operation to apply for the loss across the
             batch, can be one of ["mean", "sum"] or None.
         point_reduction: Reduction operation to apply for the loss across the
-            points, can be one of ["mean", "sum"] or None.
+            points, can be one of ["mean", "sum", "max"] or None. Using "max" leads to the
+            Hausdorff distance.
         norm: int indicates the norm used for the distance. Supports 1 for L1 and 2 for L2.
         single_directional: If False (default), loss comes from both the distance between
             each point in x and its nearest neighbor in y and each point in y and its nearest
@@ -227,6 +239,10 @@ def chamfer_distance(
 
     if not ((norm == 1) or (norm == 2)):
         raise ValueError("Support for 1 or 2 norm.")
+
+    if point_reduction == "max" and (x_normals is not None or y_normals is not None):
+        raise ValueError('Normals must be None if point_reduction is "max"')
+
     x, x_lengths, x_normals = _handle_pointcloud_input(x, x_lengths, x_normals)
     y, y_lengths, y_normals = _handle_pointcloud_input(y, y_lengths, y_normals)
 
@@ -238,13 +254,13 @@ def chamfer_distance(
         x_normals,
         y_normals,
         weights,
-        batch_reduction,
         point_reduction,
         norm,
         abs_cosine,
     )
     if single_directional:
-        return cham_x, cham_norm_x
+        loss = cham_x
+        loss_normals = cham_norm_x
     else:
         cham_y, cham_norm_y = _chamfer_distance_single_direction(
             y,
@@ -254,17 +270,23 @@ def chamfer_distance(
             y_normals,
             x_normals,
             weights,
-            batch_reduction,
             point_reduction,
             norm,
             abs_cosine,
         )
-        if point_reduction is not None:
-            return (
-                cham_x + cham_y,
-                (cham_norm_x + cham_norm_y) if cham_norm_x is not None else None,
-            )
-        return (
-            (cham_x, cham_y),
-            (cham_norm_x, cham_norm_y) if cham_norm_x is not None else None,
-        )
+        if point_reduction == "max":
+            loss = torch.maximum(cham_x, cham_y)
+            loss_normals = None
+        elif point_reduction is not None:
+            loss = cham_x + cham_y
+            if cham_norm_x is not None:
+                loss_normals = cham_norm_x + cham_norm_y
+            else:
+                loss_normals = None
+        else:
+            loss = (cham_x, cham_y)
+            if cham_norm_x is not None:
+                loss_normals = (cham_norm_x, cham_norm_y)
+            else:
+                loss_normals = None
+    return _apply_batch_reduction(loss, loss_normals, weights, batch_reduction)

tests/test_chamfer.py

@@ -847,6 +847,85 @@ def test_single_direction_chamfer_point_reduction_none(self):
             loss, loss_norm, pred_loss[0], pred_loss_norm[0], p1, p11, p2, p22
         )
 
+    def test_chamfer_point_reduction_max(self):
+        """
+        Compare output of vectorized chamfer loss with naive implementation
+        for point_reduction = "max" and batch_reduction = None.
+        """
+        N, P1, P2 = 7, 10, 18
+        device = get_random_cuda_device()
+        points_normals = TestChamfer.init_pointclouds(N, P1, P2, device)
+        p1 = points_normals.p1
+        p2 = points_normals.p2
+        weights = points_normals.weights
+        p11 = p1.detach().clone()
+        p22 = p2.detach().clone()
+        p11.requires_grad = True
+        p22.requires_grad = True
+
+        pred_loss, unused_pred_loss_norm = TestChamfer.chamfer_distance_naive(
+            p1, p2, x_normals=None, y_normals=None
+        )
+
+        loss, loss_norm = chamfer_distance(
+            p11,
+            p22,
+            x_normals=None,
+            y_normals=None,
+            weights=weights,
+            batch_reduction=None,
+            point_reduction="max",
+        )
+        pred_loss_max = torch.maximum(
+            pred_loss[0].max(1).values, pred_loss[1].max(1).values
+        )
+        pred_loss_max *= weights
+        self.assertClose(loss, pred_loss_max)
+
+        self.assertIsNone(loss_norm)
+
+        # Check gradients
+        self._check_gradients(loss, loss_norm, pred_loss_max, None, p1, p11, p2, p22)
+
+    def test_single_directional_chamfer_point_reduction_max(self):
+        """
+        Compare output of vectorized single directional chamfer loss with naive implementation
+        for point_reduction = "max" and batch_reduction = None.
+        """
+        N, P1, P2 = 7, 10, 18
+        device = get_random_cuda_device()
+        points_normals = TestChamfer.init_pointclouds(N, P1, P2, device)
+        p1 = points_normals.p1
+        p2 = points_normals.p2
+        weights = points_normals.weights
+        p11 = p1.detach().clone()
+        p22 = p2.detach().clone()
+        p11.requires_grad = True
+        p22.requires_grad = True
+
+        pred_loss, unused_pred_loss_norm = TestChamfer.chamfer_distance_naive(
+            p1, p2, x_normals=None, y_normals=None
+        )
+
+        loss, loss_norm = chamfer_distance(
+            p11,
+            p22,
+            x_normals=None,
+            y_normals=None,
+            weights=weights,
+            batch_reduction=None,
+            point_reduction="max",
+            single_directional=True,
+        )
+        pred_loss_max = pred_loss[0].max(1).values
+        pred_loss_max *= weights
+        self.assertClose(loss, pred_loss_max)
+
+        self.assertIsNone(loss_norm)
+
+        # Check gradients
+        self._check_gradients(loss, loss_norm, pred_loss_max, None, p1, p11, p2, p22)
+
     def _check_gradients(
         self,
         loss,
@@ -1020,9 +1099,9 @@ def test_chamfer_joint_reduction(self):
         with self.assertRaisesRegex(ValueError, "batch_reduction must be one of"):
             chamfer_distance(p1, p2, weights=weights, batch_reduction="max")
 
-        # Error when point_reduction is not in ["mean", "sum"] or None.
+        # Error when point_reduction is not in ["mean", "sum", "max"] or None.
         with self.assertRaisesRegex(ValueError, "point_reduction must be one of"):
-            chamfer_distance(p1, p2, weights=weights, point_reduction="max")
+            chamfer_distance(p1, p2, weights=weights, point_reduction="min")
 
     def test_incorrect_weights(self):
         N, P1, P2 = 16, 64, 128