Adding utility methods to TensorProperties

Summary:
Context: in the code we are releasing with CO3D dataset, we use  `cuda()` on TensorProperties like Pointclouds and Cameras where we recursively move batch to a GPU. It would be good to push it to a release so we don’t need to depend on the nightly build.

Additionally, I aligned the logic of `.to("cuda")` without device index to the one of `torch.Tensor` where the current device is populated to index. It should not affect any actual use cases but some tests had to be changed.

Reviewed By: bottler

Differential Revision: D29659529

fbshipit-source-id: abe58aeaca14bacc68da3e6cf5ae07df3353e3ce

pytorch3d/renderer/utils.py

@@ -8,7 +8,7 @@
 import copy
 import inspect
 import warnings
-from typing import Any, Union
+from typing import Any, Optional, Union
 
 import numpy as np
 import torch
@@ -174,6 +174,12 @@ class TensorProperties(nn.Module):
                 setattr(self, k, v.to(device_))
         return self
 
+    def cpu(self) -> "TensorProperties":
+        return self.to("cpu")
+
+    def cuda(self, device: Optional[int] = None) -> "TensorProperties":
+        return self.to(f"cuda:{device}" if device is not None else "cuda")
+
     def clone(self, other) -> "TensorProperties":
         """
         Update the tensor properties of other with the cloned properties of self.