pulsar build and CI changes

Summary:
Changes to CI and some minor fixes now that pulsar is part of pytorch3d. Most significantly, add CUB to CI builds.

Make CUB_HOME override the CUB already in cudatoolkit (important for cuda11.0 which uses cub 1.9.9 which pulsar doesn't work well with.
Make imageio available for testing.
Lint fixes.
Fix some test verbosity.
Avoid use of atomicAdd_block on older GPUs.

Reviewed By: nikhilaravi, classner

Differential Revision: D24773716

fbshipit-source-id: 2428356bb2e62735f2bc0c15cbe4cff35b1b24b8

setup.py

@@ -20,12 +20,18 @@ def get_extensions():
 
     extra_compile_args = {"cxx": ["-std=c++14"]}
     define_macros = []
+    include_dirs = [extensions_dir]
 
     force_cuda = os.getenv("FORCE_CUDA", "0") == "1"
     if (torch.cuda.is_available() and CUDA_HOME is not None) or force_cuda:
         extension = CUDAExtension
         sources += source_cuda
         define_macros += [("WITH_CUDA", None)]
+        # Thrust is only used for its tuple objects.
+        # With CUDA 11.0 we can't use the cudatoolkit's version of cub.
+        # We take the risk that CUB and Thrust are incompatible, because
+        # we aren't using parts of Thrust which actually use CUB.
+        define_macros += [("THRUST_IGNORE_CUB_VERSION_CHECK", None)]
         cub_home = os.environ.get("CUB_HOME", None)
         nvcc_args = [
             "-std=c++14",
@@ -34,6 +40,11 @@ def get_extensions():
             "-D__CUDA_NO_HALF_CONVERSIONS__",
             "-D__CUDA_NO_HALF2_OPERATORS__",
         ]
+        if cub_home is None:
+            prefix = os.environ.get("CONDA_PREFIX", None)
+            if prefix is not None and os.path.isdir(prefix + "/include/cub"):
+                cub_home = prefix + "/include"
+
         if cub_home is None:
             warnings.warn(
                 "The environment variable `CUB_HOME` was not found. "
@@ -43,14 +54,13 @@ def get_extensions():
                 "`CUB_HOME` to the folder containing the `CMakeListst.txt` file."
             )
         else:
-            nvcc_args.insert(
-                0, "-I%s" % (os.path.realpath(cub_home).replace("\\ ", " "))
-            )
+            include_dirs.append(os.path.realpath(cub_home).replace("\\ ", " "))
         nvcc_flags_env = os.getenv("NVCC_FLAGS", "")
         if nvcc_flags_env != "":
             nvcc_args.extend(nvcc_flags_env.split(" "))
 
-        # It's better if pytorch can do this by default ..
+        # This is needed for pytorch 1.6 and earlier. See e.g.
+        # https://github.com/facebookresearch/pytorch3d/issues/436
         CC = os.environ.get("CC", None)
         if CC is not None:
             CC_arg = "-ccbin={}".format(CC)
@@ -63,8 +73,6 @@ def get_extensions():
 
     sources = [os.path.join(extensions_dir, s) for s in sources]
 
-    include_dirs = [extensions_dir]
-
     ext_modules = [
         extension(
             "pytorch3d._C",
@@ -100,7 +108,7 @@ setup(
     url="https://github.com/facebookresearch/pytorch3d",
     description="PyTorch3D is FAIR's library of reusable components "
     "for deep Learning with 3D data.",
-    packages=find_packages(exclude=("configs", "tests")),
+    packages=find_packages(exclude=("configs", "tests", "tests.*")),
     install_requires=["torchvision>=0.4", "fvcore"],
     extras_require={
         "all": ["matplotlib", "tqdm>4.29.0", "imageio", "ipywidgets"],