Allow indexing for classes inheriting Transform3d (#1801)

Summary:
Currently, it is not possible to access a sub-transform using an indexer for all 3d transforms inheriting the `Transforms3d` class.
For instance:

```python
from pytorch3d import transforms

N = 10
r = transforms.random_rotations(N)
T = transforms.Transform3d().rotate(R=r)
R = transforms.Rotate(r)

x = T[0]  # ok
x = R[0]  # TypeError: __init__() got an unexpected keyword argument 'matrix'
```

This is because all these classes (namely `Rotate`, `Translate`, `Scale`, `RotateAxisAngle`) inherit the `__getitem__()` method from `Transform3d` which has the [following code on line 201](https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/transform3d.py#L201):

```python
return self.__class__(matrix=self.get_matrix()[index])
```

The four classes inheriting `Transform3d` are not initialized through a matrix argument, hence they error.
I propose to modify the `__getitem__()` method of the `Transform3d` class to fix this behavior. The least invasive way to do it I can think of consists of creating an empty instance of the current class, then setting the `_matrix` attribute manually. Thus, instead of
```python
return self.__class__(matrix=self.get_matrix()[index])
```
I propose to do:
```python
instance = self.__class__.__new__(self.__class__)
instance._matrix = self.get_matrix()[index]
return instance
```

As far as I can tell, this modification occurs no modification whatsoever for the user, except for the ability to index all 3d transforms.

Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1801

Reviewed By: MichaelRamamonjisoa

Differential Revision: D58410389

Pulled By: bottler

fbshipit-source-id: f371e4c63d2ae4c927a7ad48c2de8862761078de

pytorch3d/transforms/transform3d.py

@@ -564,6 +564,22 @@ class Translate(Transform3d):
         i_matrix = self._matrix * inv_mask
         return i_matrix
 
+    def __getitem__(
+        self, index: Union[int, List[int], slice, torch.BoolTensor, torch.LongTensor]
+    ) -> "Transform3d":
+        """
+        Args:
+            index: Specifying the index of the transform to retrieve.
+                Can be an int, slice, list of ints, boolean, long tensor.
+                Supports negative indices.
+
+        Returns:
+            Transform3d object with selected transforms. The tensors are not cloned.
+        """
+        if isinstance(index, int):
+            index = [index]
+        return self.__class__(self.get_matrix()[index, 3, :3])
+
 
 class Scale(Transform3d):
     def __init__(
@@ -613,6 +629,26 @@ class Scale(Transform3d):
         imat = torch.diag_embed(ixyz, dim1=1, dim2=2)
         return imat
 
+    def __getitem__(
+        self, index: Union[int, List[int], slice, torch.BoolTensor, torch.LongTensor]
+    ) -> "Transform3d":
+        """
+        Args:
+            index: Specifying the index of the transform to retrieve.
+                Can be an int, slice, list of ints, boolean, long tensor.
+                Supports negative indices.
+
+        Returns:
+            Transform3d object with selected transforms. The tensors are not cloned.
+        """
+        if isinstance(index, int):
+            index = [index]
+        mat = self.get_matrix()[index]
+        x = mat[:, 0, 0]
+        y = mat[:, 1, 1]
+        z = mat[:, 2, 2]
+        return self.__class__(x, y, z)
+
 
 class Rotate(Transform3d):
     def __init__(
@@ -655,6 +691,22 @@ class Rotate(Transform3d):
         """
         return self._matrix.permute(0, 2, 1).contiguous()
 
+    def __getitem__(
+        self, index: Union[int, List[int], slice, torch.BoolTensor, torch.LongTensor]
+    ) -> "Transform3d":
+        """
+        Args:
+            index: Specifying the index of the transform to retrieve.
+                Can be an int, slice, list of ints, boolean, long tensor.
+                Supports negative indices.
+
+        Returns:
+            Transform3d object with selected transforms. The tensors are not cloned.
+        """
+        if isinstance(index, int):
+            index = [index]
+        return self.__class__(self.get_matrix()[index, :3, :3])
+
 
 class RotateAxisAngle(Rotate):
     def __init__(

tests/test_transforms.py

@@ -685,6 +685,15 @@ class TestTranslate(unittest.TestCase):
         self.assertTrue(torch.allclose(im, im_comp))
         self.assertTrue(torch.allclose(im, im_2))
 
+    def test_get_item(self, batch_size=5):
+        device = torch.device("cuda:0")
+        xyz = torch.randn(size=[batch_size, 3], device=device, dtype=torch.float32)
+        t3d = Translate(xyz)
+        index = 1
+        t3d_selected = t3d[index]
+        self.assertEqual(len(t3d_selected), 1)
+        self.assertIsInstance(t3d_selected, Translate)
+
 
 class TestScale(unittest.TestCase):
     def test_single_python_scalar(self):
@@ -871,6 +880,15 @@ class TestScale(unittest.TestCase):
         self.assertTrue(torch.allclose(im, im_comp))
         self.assertTrue(torch.allclose(im, im_2))
 
+    def test_get_item(self, batch_size=5):
+        device = torch.device("cuda:0")
+        s = torch.randn(size=[batch_size, 3], device=device, dtype=torch.float32)
+        t3d = Scale(s)
+        index = 1
+        t3d_selected = t3d[index]
+        self.assertEqual(len(t3d_selected), 1)
+        self.assertIsInstance(t3d_selected, Scale)
+
 
 class TestTransformBroadcast(unittest.TestCase):
     def test_broadcast_transform_points(self):
@@ -986,6 +1004,15 @@ class TestRotate(unittest.TestCase):
         self.assertTrue(torch.allclose(im, im_comp, atol=1e-4))
         self.assertTrue(torch.allclose(im, im_2, atol=1e-4))
 
+    def test_get_item(self, batch_size=5):
+        device = torch.device("cuda:0")
+        r = random_rotations(batch_size, dtype=torch.float32, device=device)
+        t3d = Rotate(r)
+        index = 1
+        t3d_selected = t3d[index]
+        self.assertEqual(len(t3d_selected), 1)
+        self.assertIsInstance(t3d_selected, Rotate)
+
 
 class TestRotateAxisAngle(unittest.TestCase):
     def test_rotate_x_python_scalar(self):