flat shading fix

Summary:
Make flat shading differentiable again

Currently test fails with P130944403 which looks weird.

Reviewed By: nikhilaravi

Differential Revision: D21567106

fbshipit-source-id: 65995b64739e08397b3d021b65625e3c377cd1a5

Author: gkioxari

pytorch3d/renderer/mesh/shading.py

@@ -153,8 +153,21 @@ def flat_shading(meshes, fragments, lights, cameras, materials, texels) -> torch
     face_normals = meshes.faces_normals_packed()  # (V, 3)
     faces_verts = verts[faces]
     face_coords = faces_verts.mean(dim=-2)  # (F, 3, XYZ) mean xyz across verts
-    pixel_coords = face_coords[fragments.pix_to_face]
-    pixel_normals = face_normals[fragments.pix_to_face]
+
+    # Replace empty pixels in pix_to_face with 0 in order to interpolate.
+    mask = fragments.pix_to_face == -1
+    pix_to_face = fragments.pix_to_face.clone()
+    pix_to_face[mask] = 0
+
+    N, H, W, K = pix_to_face.shape
+    idx = pix_to_face.view(N * H * W * K, 1).expand(N * H * W * K, 3)
+
+    # gather pixel coords
+    pixel_coords = face_coords.gather(0, idx).view(N, H, W, K, 3)
+    pixel_coords[mask] = 0.0
+    # gather pixel normals
+    pixel_normals = face_normals.gather(0, idx).view(N, H, W, K, 3)
+    pixel_normals[mask] = 0.0
 
     # Calculate the illumination at each face
     ambient, diffuse, specular = _apply_lighting(