This release brings new targets and many improvements.

Builds for PyTorch 1.10.1, 1.10.2, 1.11.0, but no longer 1.6.0. Builds for Python 3.10 but no longer 3.6.

New Features

• MultinomialRaysampler and NDCMultinomialRaysampler replace GridRaysampler and NDCGridRaysampler commit which can sample using the new n_rays input and also bring stratified sampling along rays and direction normalization (also commit
• Function join_cameras_as_batch commit
• Function join_pointclouds_as_batch commit
• Camera batches can be indexed commit and commit
• Meshes.submesh function to take a set of faces from a mesh. commit and commit
• L1 support for KNN and chamfer commit

Bug fixes

• Rasterizer.to broken without cameras commit
• Joining batches of meshes with TexturesAtlas and TexturesUV broke first input meshes’ texture commit
• Transform3D.stack was entirely broken. commit which also added typing.
• The function cameras_from_opencv_projection always created on CPU #1021 commit
• Batching didn’t work for AmbientLights #1043 commit
• Pointclouds.subsample failed on windows #1015 commit
• Fit_textured_meshes tutorial now turns off perspective_correct in the final optimization, to avoid nans. commit

Improvements

• Points_normals much faster through use of symeig workaround commit
• A warning is now printed to console on rasterizer bin overflow commit

Small improvements

• MeshRendererWithFragments and matrix_to_axis_angle made more importable
• FacePointDistance, FacePointDistance and point_mesh_face_distance get min_triangle_area argument commit - default also changed in commit
• Fix for small faces in IoU3D commit
• Lower the epsilon value in the IoU3D commit
• Flexible background color for point compositing commit and commit
• In points_to_volumes, the rescaling of features is now optional. commit
• LinearWithRepeat layer clarified and moved inside PyTorch3D from the NeRF project commit
• HarmonicEmbedding moved inside pytorch3d from projects/nerf. commit and commit
• Invalid default values in Meshes.init removed commit
• Support obj files missing usemtl declarations commit
• CamerasBase.unproject_points typing commit
• Fix for Pointclouds.init in certain cases with None in a list commit
• Consistency validation for sampling_mode in joining TexturesUV commit
• Doc fix for camera space fix from v0.6.1 commit
• Doc fix for renderer pictures commit
• New ndc_grid_sample to handle grid-sampling using our NDC conventions commit
• Fix scatter_ error in cubify on CPU commit
• In Transform3D, fix some dtype inconsistencies commit
• Fixes to make windows builds happier commit

Internal

• Rename pytorch3d.common.types to pytorch3d.common.datatypes commit
• Cleanup in ply_io commit
• A major new feature, a framework for new-view synthesis via modeling neural-network based representations, called implicitron, is work in progress.
• We now use usort not isort for sorting imports.
• Future proofing calls to torch.meshgrid commit and symeig commit also commit. Also future proofing tests for a change to autograd behaviour that inplace operations don’t need to return the same object commit
• Future proofing for the loss of TH headers in pytorch (needed for PyTorch 1.11) commit and commit
• Base class for shaders introduced commit