Summary: Lower the epsilon value in the IoU3D calculation to fix small numerical issue from GH#1082

Reviewed By: bottler

Differential Revision: D34371597

fbshipit-source-id: 12443fa359b7755ef4ae60e9adf83734a1a295ae

Summary: Refactor ply_io to make it easier to add new features. Mostly taken from the starting code I attached to https://github.com/facebookresearch/pytorch3d/issues/904.

Reviewed By: patricklabatut

Differential Revision: D34375978

fbshipit-source-id: ec017d31f07c6f71ba6d97a0623bb10be1e81212

Summary: Fix tests which depended on output tensors being identical to input ones, which now fail in main PyTorch branch because of some change in autograd. The functions still work in-place.

Reviewed By: patricklabatut

Differential Revision: D34375817

fbshipit-source-id: 295ae195f75eab6c7abab412c997470d8de8add1

Summary: Use the newer eigh to avoid deprecation warnings in newer pytorch.

Reviewed By: patricklabatut

Differential Revision: D34375784

fbshipit-source-id: 40efe0d33fdfa071fba80fc97ed008cbfd2ef249

Summary:
Modified the compositor background color tests to account for either a 3rd or 4th channel. Also replaced hard coding of channel value with C.

Implemented changes to alpha channel appending logic, and cleaned up extraneous warnings and checks, per task instructions.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1048

Reviewed By: bottler

Differential Revision: D34305312

fbshipit-source-id: 2176c3bdd897d1a2ba6ff4c6fa801fea889e4f02

Summary:
Add a test for Transform3d.stack, and make it work with composed transformations.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1072 .

Reviewed By: patricklabatut

Differential Revision: D34211920

fbshipit-source-id: bfbd0895494ca2ad3d08a61bc82ba23637e168cc

Summary: Move this simple layer from the NeRF project into pytorch3d.

Reviewed By: shapovalov

Differential Revision: D34126972

fbshipit-source-id: a9c6d6c3c1b662c1b844ea5d1b982007d4df83e6

Summary:
When there is no "usemtl" statement in the .obj file use material from .mtl if there is one.
https://github.com/facebookresearch/pytorch3d/issues/1068

Reviewed By: bottler

Differential Revision: D34141152

fbshipit-source-id: 7a5b5cc3f0bb287dc617f68de2cd085db8f7ad94

Summary: Implements a utility function to convert from 2D coordinates in Pytorch3D NDC space to the coordinates in grid_sample.

Reviewed By: shapovalov

Differential Revision: D33741394

fbshipit-source-id: 88981653356588fe646e6dea48fe7f7298738437

Summary: D33970393 (https://github.com/facebookresearch/pytorch3d/commit/e9fb6c27e3c71465dd982e03509aa3ed304955a7) ran an inference to add some typing. Remove some where it was a bit too confident. (Also fix some pyre errors in plotly_vis caused by new mismatch.)

Reviewed By: patricklabatut

Differential Revision: D34004689

fbshipit-source-id: 430182b0ff0b91be542a3120da6d6b1d2b247c59

Reviewed By: shannonzhu

Differential Revision: D33970393

fbshipit-source-id: 9b4dfaccfc3793fd37705a923d689cb14c9d26ba

Summary:
Use existing workaround for batched 3x3 symeig because it is faster than torch.symeig.

Added benchmark showing speedup. True = workaround.
```
Benchmark                Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
normals_True_3000            16237           17233             31
normals_True_6000            33028           33391             16
normals_False_3000        18623069        18623069              1
normals_False_6000        36535475        36535475              1
```

Should help https://github.com/facebookresearch/pytorch3d/issues/988

Reviewed By: nikhilaravi

Differential Revision: D33660585

fbshipit-source-id: d1162b277f5d61ed67e367057a61f25e03888dce

Summary: Fix the base class annotation for unproject_points.

Reviewed By: patricklabatut

Differential Revision: D33281586

fbshipit-source-id: 1c34e8c4b30b359fcb9307507bc778ad3fecf290

Summary: Migrate away from NDCGridRaysampler and GridRaysampler to their more flexible replacements.

Reviewed By: patricklabatut

Differential Revision: D33281584

fbshipit-source-id: 65f8702e700a32d38f7cd6bda3924bb1707a0633

Summary: New MultinomialRaysampler succeeds GridRaysampler bringing masking and subsampling. Correspondingly, NDCMultinomialRaysampler succeeds NDCGridRaysampler.

Reviewed By: nikhilaravi, shapovalov

Differential Revision: D33256897

fbshipit-source-id: cd80ec6f35b110d1d20a75c62f4e889ba8fa5d45

Summary: Add --no-cache and --no-index to all commands which try to download wheels from S3, to avoid hitting pypi.

Reviewed By: nikhilaravi

Differential Revision: D33507975

fbshipit-source-id: ee796e43cc1864e475cd73c248e9900487012f25

Summary: Fix https://github.com/facebookresearch/pytorch3d/issues/1021 that cameras_from_opencv_projection always creates on CPU.

Reviewed By: nikhilaravi

Differential Revision: D33508211

fbshipit-source-id: fadebd45cacafd633af6a58094cf6f654529992c

Summary:
Function to join a list of cameras objects into a single batched object.

FB: In the next diff I will remove the `concatenate_cameras` function in implicitron and update the callsites.

Reviewed By: nikhilaravi

Differential Revision: D33198209

fbshipit-source-id: 0c9f5f5df498a0def9dba756c984e6a946618158

Summary:
convert_to_tensors_and_broadcast had a special case for a single input, which is not used anywhere except fails to do the right thing if a TensorProperties has only one kwarg. At the moment AmbientLights may be the only way to hit the problem. Fix by removing the special case.

Fixes https://github.com/facebookresearch/pytorch3d/issues/1043

Reviewed By: nikhilaravi

Differential Revision: D33638345

fbshipit-source-id: 7a6695f44242e650504320f73b6da74254d49ac7

Summary: PyTorch 1.7.0 was in Oct 2020 and 1.7.1 was in Dec 2020. We shouldn't need older than them, maybe not even 1.7.0.

Reviewed By: patricklabatut

Differential Revision: D33507967

fbshipit-source-id: d3de09c20c44870cbe5522705f2293acc0e62af3

Summary: Adds 1.10.1 to the nightly builds

Reviewed By: patricklabatut

Differential Revision: D33507966

fbshipit-source-id: af88b155adbc4e3236107f709323bd46a1819013

Summary:
The following snippet should work in more cases.
     point_cloud = Pointclouds(
         [pcl.points_packed() for pcl in point_clouds],
         features=[pcl.features_packed() for pcl in point_clouds],
     )

We therefore allow features and normals inputs to be lists which contain some (but not all) Nones.

The initialization of a Pointclouds from empty data is also made a bit better now at working out how many feature channels there are.

Reviewed By: davnov134

Differential Revision: D31795089

fbshipit-source-id: 54bf941ba80672d699ffd5ac28927740e830f8ab

Summary: Quick script to list tests to help completion of test command.

Reviewed By: patricklabatut

Differential Revision: D33279584

fbshipit-source-id: acb463106d311498449a14c1daf52434878722bf

Summary: Since coarse rasterization on cuda can overflow bins, we detect when this happens for memory safety. See https://github.com/facebookresearch/pytorch3d/issues/348 . Also try to print a warning.

Reviewed By: patricklabatut

Differential Revision: D33065604

fbshipit-source-id: 99b3c576d01b78e6d77776cf1a3e95984506c93a

Summary: Fix https://github.com/facebookresearch/pytorch3d/issues/1015. Stop relying on the fact that the dtype returned by np.random.choice (int64 on Linux, int32 on Windows) matches the dtype used by pytorch for indexing (int64 everywhere).

Reviewed By: patricklabatut

Differential Revision: D33428680

fbshipit-source-id: 716c857502cd54c563cb256f0eaca7dccd535c10

Summary: Python 3.6 was EOL on 2021-12-23.

Reviewed By: patricklabatut

Differential Revision: D33428708

fbshipit-source-id: 37a73898df49a4a49266839278fc8be56597405d

Summary: Manual adjustments for license changes.

Reviewed By: patricklabatut

Differential Revision: D33405657

fbshipit-source-id: 8a21735726f3aece9f9164da9e3b272b27db8032

Summary: Update all FB license strings to the new format.

Reviewed By: patricklabatut

Differential Revision: D33403538

fbshipit-source-id: 97a4596c5c888f3c54f44456dc07e718a387a02c

Differential Revision: D33338085

fbshipit-source-id: fdb207864718c56dfa0d20530b59349c93af11bd

Summary: Removed harmonic embedding function from projects/nerf and changed import to be from core pytorch3d.

Reviewed By: patricklabatut

Differential Revision: D33142358

fbshipit-source-id: 3004247d50392dbd04ea72e9cd4bace0dc03606b

Summary:
Moved `HarmonicEmbedding` function in core PyTorch3D.
In the next diff will update the NeRF project.

Reviewed By: bottler

Differential Revision: D32833808

fbshipit-source-id: 0a12ccd1627c0ce024463c796544c91eb8d4d122

Summary: Removed `select_cameras.py` from implicitron and updated all callsites to directly index the cameras.

Reviewed By: bottler

Differential Revision: D33187605

fbshipit-source-id: aaf5b36aef9d72db0c7e89dec519f23646f6aa05

Summary:
Added a custom `__getitem__` method to `CamerasBase` which returns an instance of the appropriate camera instead of the `TensorAccessor` class.

Long term we should deprecate the `TensorAccessor` and the `__getitem__` method on `TensorProperties`

FB: In the next diff I will update the uses of `select_cameras` in implicitron.

Reviewed By: bottler

Differential Revision: D33185885

fbshipit-source-id: c31995d0eb126981e91ba61a6151d5404b263f67

Summary:
* Add PyTorch 1.10 + CUDA 11.1 combination.
* Change the CUDA 11.3 builds to happen in a separate docker image.
* Update connection to AWS to use the official `aws` commands instead of the wrapper which is now gone.

Reviewed By: patricklabatut

Differential Revision: D33235489

fbshipit-source-id: 56401f27c002a512ae121b3ec5911d020bfab885

Summary: New sampling mode option in TexturesUV mush match when collating meshes.

Reviewed By: patricklabatut

Differential Revision: D33235901

fbshipit-source-id: f457473d90bf022e65fe122ef45bf5efad134345

Summary: When parsing tutorials for building the website, we fix a few libraries at old versions. They need mistune 0.8.4, not the new version 2+, so this gets added to the list of fixed-version libraries.

Reviewed By: patricklabatut

Differential Revision: D33236031

fbshipit-source-id: 2b152b64043edffc59fa909012eab5794c7e8844

Summary: Function to join a list of pointclouds as a batch similar to the corresponding function for Meshes.

Reviewed By: bottler

Differential Revision: D33145906

fbshipit-source-id: 160639ebb5065e4fae1a1aa43117172719f3871b

Summary: Fix some comments to match the recent change to transform_points_screen.

Reviewed By: patricklabatut

Differential Revision: D33243697

fbshipit-source-id: dc8d182667a9413bca2c2e3657f97b2f7a47c795

Summary: Make code for downloading linux wheels robust to double-digit PyTorch minor version.

Reviewed By: nikhilaravi

Differential Revision: D33170562

fbshipit-source-id: 559a97cc98ff8411e235a9f9e29f84b7a400c716

Differential Revision: D33202801

fbshipit-source-id: d4cb0f4f4a8ad5a6519ce4b8c640e8f96fbeaccb