version 0.7.2

Summary: version number Reviewed By: davidsonic Differential Revision: D42072729 fbshipit-source-id: 50adaac4daca7786479d33e218d15e941a725bb6
Update notebooks for 0.7.2
2025-12-23 15:50:39 +08:00 · 2022-12-15 16:15:45 -08:00 · 2022-12-15 16:15:45 -08:00 · 2022-12-15 16:15:45 -08:00 · 2022-12-15 03:22:07 -08:00 · 2022-12-13 05:34:45 -08:00
333 changed files with 14683 additions and 3981 deletions
--- a/.circleci/config.in.yml
+++ b/.circleci/config.in.yml
@@ -117,7 +117,7 @@ jobs:
      - run:
          name: build
          no_output_timeout: 20m
-          command: MAX_JOBS=15 TEST_FLAG=--no-test packaging/build_conda.sh
+          command: MAX_JOBS=15 TEST_FLAG=--no-test python3 packaging/build_conda.py
      - store_artifacts:
          path: /opt/conda/conda-bld/linux-64
      - persist_to_workspace:
@@ -154,7 +154,7 @@ jobs:
          export JUST_TESTRUN=1
          VARS_TO_PASS="-e PYTHON_VERSION -e BUILD_VERSION -e PYTORCH_VERSION -e CU_VERSION -e JUST_TESTRUN"

-          docker run --gpus all  --ipc=host -v $(pwd):/remote -w /remote ${VARS_TO_PASS} ${TESTRUN_DOCKER_IMAGE} ./packaging/build_conda.sh
+          docker run --gpus all  --ipc=host -v $(pwd):/remote -w /remote ${VARS_TO_PASS} ${TESTRUN_DOCKER_IMAGE} python3 ./packaging/build_conda.py

  binary_macos_wheel:
    <<: *binary_common
@@ -182,23 +182,23 @@ workflows:
      #     context: DOCKERHUB_TOKEN
      {{workflows()}}
      - binary_linux_conda_cuda:
-          name: testrun_conda_cuda_py37_cu102_pyt190
+          name: testrun_conda_cuda_py38_cu102_pyt190
          context: DOCKERHUB_TOKEN
-          python_version: "3.7"
+          python_version: "3.8"
          pytorch_version: '1.9.0'
          cu_version: "cu102"
      - binary_macos_wheel:
          cu_version: cpu
-          name: macos_wheel_py37_cpu
-          python_version: '3.7'
-          pytorch_version: '1.12.0'
-      - binary_macos_wheel:
-          cu_version: cpu
-          name: macos_wheel_py38_cpu
+          name: macos_wheel_py3.8_cpu
          python_version: '3.8'
-          pytorch_version: '1.12.0'
+          pytorch_version: '1.13.0'
      - binary_macos_wheel:
          cu_version: cpu
-          name: macos_wheel_py39_cpu
+          name: macos_wheel_py3.9_cpu
          python_version: '3.9'
-          pytorch_version: '1.12.0'
+          pytorch_version: '1.13.0'
+      - binary_macos_wheel:
+          cu_version: cpu
+          name: macos_wheel_py3.10_cpu
+          python_version: '3.10'
+          pytorch_version: '1.13.0'
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -117,7 +117,7 @@ jobs:
      - run:
          name: build
          no_output_timeout: 20m
-          command: MAX_JOBS=15 TEST_FLAG=--no-test packaging/build_conda.sh
+          command: MAX_JOBS=15 TEST_FLAG=--no-test python3 packaging/build_conda.py
      - store_artifacts:
          path: /opt/conda/conda-bld/linux-64
      - persist_to_workspace:
@@ -154,7 +154,7 @@ jobs:
          export JUST_TESTRUN=1
          VARS_TO_PASS="-e PYTHON_VERSION -e BUILD_VERSION -e PYTORCH_VERSION -e CU_VERSION -e JUST_TESTRUN"

-          docker run --gpus all  --ipc=host -v $(pwd):/remote -w /remote ${VARS_TO_PASS} ${TESTRUN_DOCKER_IMAGE} ./packaging/build_conda.sh
+          docker run --gpus all  --ipc=host -v $(pwd):/remote -w /remote ${VARS_TO_PASS} ${TESTRUN_DOCKER_IMAGE} python3 ./packaging/build_conda.py

  binary_macos_wheel:
    <<: *binary_common
@@ -180,205 +180,6 @@ workflows:
    jobs:
      # - main:
      #     context: DOCKERHUB_TOKEN
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu101
-          name: linux_conda_py37_cu101_pyt180
-          python_version: '3.7'
-          pytorch_version: 1.8.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt180
-          python_version: '3.7'
-          pytorch_version: 1.8.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt180
-          python_version: '3.7'
-          pytorch_version: 1.8.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu101
-          name: linux_conda_py37_cu101_pyt181
-          python_version: '3.7'
-          pytorch_version: 1.8.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt181
-          python_version: '3.7'
-          pytorch_version: 1.8.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt181
-          python_version: '3.7'
-          pytorch_version: 1.8.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt190
-          python_version: '3.7'
-          pytorch_version: 1.9.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt190
-          python_version: '3.7'
-          pytorch_version: 1.9.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt191
-          python_version: '3.7'
-          pytorch_version: 1.9.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt191
-          python_version: '3.7'
-          pytorch_version: 1.9.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt1100
-          python_version: '3.7'
-          pytorch_version: 1.10.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt1100
-          python_version: '3.7'
-          pytorch_version: 1.10.0
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda113
-          context: DOCKERHUB_TOKEN
-          cu_version: cu113
-          name: linux_conda_py37_cu113_pyt1100
-          python_version: '3.7'
-          pytorch_version: 1.10.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt1101
-          python_version: '3.7'
-          pytorch_version: 1.10.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt1101
-          python_version: '3.7'
-          pytorch_version: 1.10.1
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda113
-          context: DOCKERHUB_TOKEN
-          cu_version: cu113
-          name: linux_conda_py37_cu113_pyt1101
-          python_version: '3.7'
-          pytorch_version: 1.10.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt1102
-          python_version: '3.7'
-          pytorch_version: 1.10.2
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt1102
-          python_version: '3.7'
-          pytorch_version: 1.10.2
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda113
-          context: DOCKERHUB_TOKEN
-          cu_version: cu113
-          name: linux_conda_py37_cu113_pyt1102
-          python_version: '3.7'
-          pytorch_version: 1.10.2
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt1110
-          python_version: '3.7'
-          pytorch_version: 1.11.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py37_cu111_pyt1110
-          python_version: '3.7'
-          pytorch_version: 1.11.0
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda113
-          context: DOCKERHUB_TOKEN
-          cu_version: cu113
-          name: linux_conda_py37_cu113_pyt1110
-          python_version: '3.7'
-          pytorch_version: 1.11.0
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda115
-          context: DOCKERHUB_TOKEN
-          cu_version: cu115
-          name: linux_conda_py37_cu115_pyt1110
-          python_version: '3.7'
-          pytorch_version: 1.11.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py37_cu102_pyt1120
-          python_version: '3.7'
-          pytorch_version: 1.12.0
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda113
-          context: DOCKERHUB_TOKEN
-          cu_version: cu113
-          name: linux_conda_py37_cu113_pyt1120
-          python_version: '3.7'
-          pytorch_version: 1.12.0
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda116
-          context: DOCKERHUB_TOKEN
-          cu_version: cu116
-          name: linux_conda_py37_cu116_pyt1120
-          python_version: '3.7'
-          pytorch_version: 1.12.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu101
-          name: linux_conda_py38_cu101_pyt180
-          python_version: '3.8'
-          pytorch_version: 1.8.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py38_cu102_pyt180
-          python_version: '3.8'
-          pytorch_version: 1.8.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py38_cu111_pyt180
-          python_version: '3.8'
-          pytorch_version: 1.8.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu101
-          name: linux_conda_py38_cu101_pyt181
-          python_version: '3.8'
-          pytorch_version: 1.8.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py38_cu102_pyt181
-          python_version: '3.8'
-          pytorch_version: 1.8.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py38_cu111_pyt181
-          python_version: '3.8'
-          pytorch_version: 1.8.1
      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
          cu_version: cu102
@@ -506,42 +307,40 @@ workflows:
          name: linux_conda_py38_cu116_pyt1120
          python_version: '3.8'
          pytorch_version: 1.12.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu101
-          name: linux_conda_py39_cu101_pyt180
-          python_version: '3.9'
-          pytorch_version: 1.8.0
      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
          cu_version: cu102
-          name: linux_conda_py39_cu102_pyt180
-          python_version: '3.9'
-          pytorch_version: 1.8.0
+          name: linux_conda_py38_cu102_pyt1121
+          python_version: '3.8'
+          pytorch_version: 1.12.1
      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda113
          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py39_cu111_pyt180
-          python_version: '3.9'
-          pytorch_version: 1.8.0
+          cu_version: cu113
+          name: linux_conda_py38_cu113_pyt1121
+          python_version: '3.8'
+          pytorch_version: 1.12.1
      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
          context: DOCKERHUB_TOKEN
-          cu_version: cu101
-          name: linux_conda_py39_cu101_pyt181
-          python_version: '3.9'
-          pytorch_version: 1.8.1
+          cu_version: cu116
+          name: linux_conda_py38_cu116_pyt1121
+          python_version: '3.8'
+          pytorch_version: 1.12.1
      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py39_cu102_pyt181
-          python_version: '3.9'
-          pytorch_version: 1.8.1
+          cu_version: cu116
+          name: linux_conda_py38_cu116_pyt1130
+          python_version: '3.8'
+          pytorch_version: 1.13.0
      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py39_cu111_pyt181
-          python_version: '3.9'
-          pytorch_version: 1.8.1
+          cu_version: cu117
+          name: linux_conda_py38_cu117_pyt1130
+          python_version: '3.8'
+          pytorch_version: 1.13.0
      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
          cu_version: cu102
@@ -669,6 +468,40 @@ workflows:
          name: linux_conda_py39_cu116_pyt1120
          python_version: '3.9'
          pytorch_version: 1.12.0
+      - binary_linux_conda:
+          context: DOCKERHUB_TOKEN
+          cu_version: cu102
+          name: linux_conda_py39_cu102_pyt1121
+          python_version: '3.9'
+          pytorch_version: 1.12.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda113
+          context: DOCKERHUB_TOKEN
+          cu_version: cu113
+          name: linux_conda_py39_cu113_pyt1121
+          python_version: '3.9'
+          pytorch_version: 1.12.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
+          context: DOCKERHUB_TOKEN
+          cu_version: cu116
+          name: linux_conda_py39_cu116_pyt1121
+          python_version: '3.9'
+          pytorch_version: 1.12.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
+          context: DOCKERHUB_TOKEN
+          cu_version: cu116
+          name: linux_conda_py39_cu116_pyt1130
+          python_version: '3.9'
+          pytorch_version: 1.13.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py39_cu117_pyt1130
+          python_version: '3.9'
+          pytorch_version: 1.13.0
      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
          cu_version: cu102
@@ -715,24 +548,58 @@ workflows:
          name: linux_conda_py310_cu116_pyt1120
          python_version: '3.10'
          pytorch_version: 1.12.0
-      - binary_linux_conda_cuda:
-          name: testrun_conda_cuda_py37_cu102_pyt190
+      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
-          python_version: "3.7"
+          cu_version: cu102
+          name: linux_conda_py310_cu102_pyt1121
+          python_version: '3.10'
+          pytorch_version: 1.12.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda113
+          context: DOCKERHUB_TOKEN
+          cu_version: cu113
+          name: linux_conda_py310_cu113_pyt1121
+          python_version: '3.10'
+          pytorch_version: 1.12.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
+          context: DOCKERHUB_TOKEN
+          cu_version: cu116
+          name: linux_conda_py310_cu116_pyt1121
+          python_version: '3.10'
+          pytorch_version: 1.12.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
+          context: DOCKERHUB_TOKEN
+          cu_version: cu116
+          name: linux_conda_py310_cu116_pyt1130
+          python_version: '3.10'
+          pytorch_version: 1.13.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py310_cu117_pyt1130
+          python_version: '3.10'
+          pytorch_version: 1.13.0
+      - binary_linux_conda_cuda:
+          name: testrun_conda_cuda_py38_cu102_pyt190
+          context: DOCKERHUB_TOKEN
+          python_version: "3.8"
          pytorch_version: '1.9.0'
          cu_version: "cu102"
      - binary_macos_wheel:
          cu_version: cpu
-          name: macos_wheel_py37_cpu
-          python_version: '3.7'
-          pytorch_version: '1.12.0'
-      - binary_macos_wheel:
-          cu_version: cpu
-          name: macos_wheel_py38_cpu
+          name: macos_wheel_py3.8_cpu
          python_version: '3.8'
-          pytorch_version: '1.12.0'
+          pytorch_version: '1.13.0'
      - binary_macos_wheel:
          cu_version: cpu
-          name: macos_wheel_py39_cpu
+          name: macos_wheel_py3.9_cpu
          python_version: '3.9'
-          pytorch_version: '1.12.0'
+          pytorch_version: '1.13.0'
+      - binary_macos_wheel:
+          cu_version: cpu
+          name: macos_wheel_py3.10_cpu
+          python_version: '3.10'
+          pytorch_version: '1.13.0'
--- a/.circleci/regenerate.py
+++ b/.circleci/regenerate.py
@@ -20,8 +20,6 @@ from packaging import version
 # version of pytorch.
 # Pytorch 1.4 also supports cuda 10.0 but we no longer build for cuda 10.0 at all.
 CONDA_CUDA_VERSIONS = {
-    "1.8.0": ["cu101", "cu102", "cu111"],
-    "1.8.1": ["cu101", "cu102", "cu111"],
    "1.9.0": ["cu102", "cu111"],
    "1.9.1": ["cu102", "cu111"],
    "1.10.0": ["cu102", "cu111", "cu113"],
@@ -29,6 +27,8 @@ CONDA_CUDA_VERSIONS = {
    "1.10.2": ["cu102", "cu111", "cu113"],
    "1.11.0": ["cu102", "cu111", "cu113", "cu115"],
    "1.12.0": ["cu102", "cu113", "cu116"],
+    "1.12.1": ["cu102", "cu113", "cu116"],
+    "1.13.0": ["cu116", "cu117"],
 }


@@ -41,6 +41,8 @@ def conda_docker_image_for_cuda(cuda_version):
        return "pytorch/conda-builder:cuda115"
    if cuda_version == "cu116":
        return "pytorch/conda-builder:cuda116"
+    if cuda_version == "cu117":
+        return "pytorch/conda-builder:cuda117"
    raise ValueError("Unknown cuda version")


@@ -64,7 +66,7 @@ def pytorch_versions_for_python(python_version):
 def workflows(prefix="", filter_branch=None, upload=False, indentation=6):
    w = []
    for btype in ["conda"]:
-        for python_version in ["3.7", "3.8", "3.9", "3.10"]:
+        for python_version in ["3.8", "3.9", "3.10"]:
            for pytorch_version in pytorch_versions_for_python(python_version):
                for cu_version in CONDA_CUDA_VERSIONS[pytorch_version]:
                    w += workflow_pair(
--- a/.github/CONTRIBUTING.md
+++ b/.github/CONTRIBUTING.md
@@ -16,14 +16,13 @@ We do not always accept new features, and we take the following factors into con

 When sending a PR, please ensure you complete the following steps:

-1. Fork the repo and create your branch from `master`. Follow the instructions
+1. Fork the repo and create your branch from `main`. Follow the instructions
   in [INSTALL.md](../INSTALL.md) to build the repo.
 2. If you've added code that should be tested, add tests.
 3. If you've changed any APIs, please update the documentation.
-4. Ensure the test suite passes:
+4. Ensure the test suite passes, by running this from the project root:
    ```
-    cd pytorch3d/tests
-    python -m unittest -v
+    python -m unittest discover -v -s tests -t .
    ```
 5. Make sure your code lints by running `dev/linter.sh` from  the project root.
 6. If a PR contains multiple orthogonal changes, split it into multiple separate PRs.
--- a/.github/implicitron_config.gif
+++ b/.github/implicitron_config.gif
--- a/.github/workflows/stale.yml
+++ b/.github/workflows/stale.yml
@@ -1,27 +0,0 @@
-name: Mark stale issues and pull requests
-
-on:
-  schedule:
-  - cron: '31 5 * * *'
-
-jobs:
-  stale:
-
-    runs-on: ubuntu-latest
-    permissions:
-      issues: write
-      pull-requests: write
-
-    steps:
-    - uses: actions/stale@v3
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        exempt-issue-labels: 'enhancement,how-to'
-        stale-issue-message: 'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
-        stale-pr-message: 'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
-        close-issue-message: 'This issue was closed because it has been stalled for 5 days with no activity.'
-        close-pr-message: 'This PR was closed because it has been stalled for 10 days with no activity.'
-        days-before-issue-stale: 30
-        days-before-pr-stale: 45
-        days-before-issue-close: 5
-        days-before-pr-close: 10
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -8,8 +8,8 @@
 The core library is written in PyTorch. Several components have underlying implementation in CUDA for improved performance. A subset of these components have CPU implementations in C++/PyTorch. It is advised to use PyTorch3D with GPU support in order to use all the features.

 - Linux or macOS or Windows
- Python 3.6, 3.7, 3.8 or 3.9
- PyTorch 1.8.0, 1.8.1, 1.9.0, 1.9.1, 1.10.0, 1.10.1, 1.10.2, 1.11.0 or 1.12.0.
+- Python 3.8, 3.9 or 3.10
+- PyTorch 1.9.0, 1.9.1, 1.10.0, 1.10.1, 1.10.2, 1.11.0, 1.12.0, 1.12.1 or 1.13.0.
 - torchvision that matches the PyTorch installation. You can install them together as explained at pytorch.org to make sure of this.
 - gcc & g++ ≥ 4.9
 - [fvcore](https://github.com/facebookresearch/fvcore)
@@ -21,11 +21,11 @@ The runtime dependencies can be installed by running:
 ```
 conda create -n pytorch3d python=3.9
 conda activate pytorch3d
-conda install -c pytorch pytorch=1.9.1 torchvision cudatoolkit=10.2
+conda install -c pytorch pytorch=1.9.1 torchvision cudatoolkit=11.6
 conda install -c fvcore -c iopath -c conda-forge fvcore iopath
 ```

-For the CUB build time dependency, if you are using conda, you can continue with
+For the CUB build time dependency, which you only need if you have CUDA older than 11.7, if you are using conda, you can continue with
 ```
 conda install -c bottler nvidiacub
 ```
@@ -78,14 +78,14 @@ Or, to install a nightly (non-official, alpha) build:
 conda install pytorch3d -c pytorch3d-nightly
 ```
 ### 2. Install from PyPI, on Mac only.
-This works with pytorch 1.12.0 only. The build is CPU only.
+This works with pytorch 1.13.0 only. The build is CPU only.
 ```
 pip install pytorch3d
 ```

 ### 3. Install wheels for Linux
 We have prebuilt wheels with CUDA for Linux for PyTorch 1.11.0, for each of the supported CUDA versions,
-for Python 3.7, 3.8 and 3.9. This is for ease of use on Google Colab.
+for Python 3.8 and 3.9. This is for ease of use on Google Colab.
 These are installed in a special way.
 For example, to install for Python 3.8, PyTorch 1.11.0 and CUDA 11.3
 ```
--- a/README.md
+++ b/README.md
@@ -56,6 +56,11 @@ Get started with PyTorch3D by trying one of the tutorial notebooks.
 |:------------------------------------------------------------:|:--------------------------------------------------:|
 | [Fit Textured Volume](https://github.com/facebookresearch/pytorch3d/blob/main/docs/tutorials/fit_textured_volume.ipynb)| [Fit A Simple Neural Radiance Field](https://github.com/facebookresearch/pytorch3d/blob/main/docs/tutorials/fit_simple_neural_radiance_field.ipynb)|

+| <img src="https://raw.githubusercontent.com/facebookresearch/pytorch3d/main/.github/fit_textured_volume.gif" width="310"/> | <img src="https://raw.githubusercontent.com/facebookresearch/pytorch3d/main/.github/implicitron_config.gif" width="310" height="310"/>
+|:------------------------------------------------------------:|:--------------------------------------------------:|
+| [Fit Textured Volume in Implicitron](https://github.com/facebookresearch/pytorch3d/blob/main/docs/tutorials/implicitron_volumes.ipynb)| [Implicitron Config System](https://github.com/facebookresearch/pytorch3d/blob/main/docs/tutorials/implicitron_config_system.ipynb)|
+
+



@@ -95,6 +100,7 @@ In alphabetical order:
 * Amitav Baruah
 * Steve Branson
 * Krzysztof Chalupka
+* Jiali Duan
 * Luya Gao
 * Georgia Gkioxari
 * Taylor Gordon
@@ -138,6 +144,12 @@ If you are using the pulsar backend for sphere-rendering (the `PulsarPointRender

 Please see below for a timeline of the codebase updates in reverse chronological order. We are sharing updates on the releases as well as research projects which are built with PyTorch3D. The changelogs for the releases are available under [`Releases`](https://github.com/facebookresearch/pytorch3d/releases),  and the builds can be installed using `conda` as per the instructions in [INSTALL.md](INSTALL.md).

+**[Oct 23rd 2022]:**   PyTorch3D [v0.7.1](https://github.com/facebookresearch/pytorch3d/releases/tag/v0.7.1) released.
+
+**[Aug 10th 2022]:**   PyTorch3D [v0.7.0](https://github.com/facebookresearch/pytorch3d/releases/tag/v0.7.0) released with Implicitron and MeshRasterizerOpenGL.
+
+**[Apr 28th 2022]:**   PyTorch3D [v0.6.2](https://github.com/facebookresearch/pytorch3d/releases/tag/v0.6.2) released
+
 **[Dec 16th 2021]:**   PyTorch3D [v0.6.1](https://github.com/facebookresearch/pytorch3d/releases/tag/v0.6.1) released

 **[Oct 6th 2021]:**   PyTorch3D [v0.6.0](https://github.com/facebookresearch/pytorch3d/releases/tag/v0.6.0) released
--- a/dev/test_list.py
+++ b/dev/test_list.py
@@ -17,7 +17,8 @@ It has no dependencies.

 def get_test_files() -> List[Path]:
    root = Path(__file__).parent.parent
-    return list((root / "tests").glob("**/test*.py"))
+    dirs = ["tests", "projects/implicitron_trainer"]
+    return [i for dir in dirs for i in (root / dir).glob("**/test*.py")]


 def tests_from_file(path: Path, base: str) -> List[str]:
--- a/docs/generate_stubs.py
+++ b/docs/generate_stubs.py
@@ -0,0 +1,162 @@
+#!/usr/bin/env python3
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+# All rights reserved.
+#
+# This source code is licensed under the BSD-style license found in the
+# LICENSE file in the root directory of this source tree.
+
+"""
+This script makes the stubs for implicitron in docs/modules.
+"""
+
+from pathlib import Path
+
+ROOT_DIR = Path(__file__).resolve().parent.parent
+
+
+def paths_to_modules(paths):
+    """
+    Given an iterable of paths, return equivalent list of modules.
+    """
+    return [
+        str(i.relative_to(ROOT_DIR))[:-3].replace("/", ".")
+        for i in paths
+        if "__pycache__" not in str(i)
+    ]
+
+
+def create_one_file(title, description, sources, dest_file):
+    with open(dest_file, "w") as f:
+        print(title, file=f)
+        print("=" * len(title), file=f)
+        print(file=f)
+        print(description, file=f)
+        for source in sources:
+            if source.find("._") != -1:
+                # ignore internal modules including __init__.py
+                continue
+            print(f"\n.. automodule:: {source}", file=f)
+            print("    :members:", file=f)
+            print("    :undoc-members:", file=f)
+            print("    :show-inheritance:", file=f)
+
+
+def iterate_directory(directory_path, dest):
+    """
+    Create a file for each module in the given path
+    """
+    toc = []
+    if not dest.exists():
+        dest.mkdir()
+    for file in sorted(directory_path.glob("*.py")):
+        if file.stem.startswith("_"):
+            continue
+        module = paths_to_modules([file])
+        create_one_file(module[0], file.stem, module, dest / f"{file.stem}.rst")
+        toc.append(file.stem)
+
+    for subdir in directory_path.iterdir():
+        if not subdir.is_dir():
+            continue
+        if subdir.name == "fb":
+            continue
+        if subdir.name.startswith("_"):
+            continue
+        iterate_directory(subdir, dest / (subdir.name))
+        toc.append(f"{subdir.name}/index")
+
+    paths_to_modules_ = paths_to_modules([directory_path.with_suffix(".XX")])
+    if len(paths_to_modules_) == 0:
+        return
+    title = paths_to_modules_[0]
+
+    with open(dest / "index.rst", "w") as f:
+        print(title, file=f)
+        print("=" * len(title), file=f)
+        print("\n.. toctree::\n", file=f)
+        for item in toc:
+            print(f"    {item}", file=f)
+
+
+def make_directory_index(title: str, directory_path: Path):
+    index_file = directory_path / "index.rst"
+    directory_rsts = sorted(directory_path.glob("*.rst"))
+    subdirs = sorted([f for f in directory_path.iterdir() if f.is_dir()])
+    with open(index_file, "w") as f:
+        print(title, file=f)
+        print("=" * len(title), file=f)
+        print("\n.. toctree::\n", file=f)
+        for subdir in subdirs:
+            print(f"    {subdir.stem}/index.rst", file=f)
+        for rst in directory_rsts:
+            if rst.stem == "index":
+                continue
+            print(f"    {rst.stem}", file=f)
+
+
+def do_implicitron():
+    DEST_DIR = Path(__file__).resolve().parent / "modules/implicitron"
+
+    iterate_directory(ROOT_DIR / "pytorch3d/implicitron/models", DEST_DIR / "models")
+
+    unwanted_tools = ["configurable", "depth_cleanup", "utils"]
+    tools_sources = sorted(ROOT_DIR.glob("pytorch3d/implicitron/tools/*.py"))
+    tools_modules = [
+        str(i.relative_to(ROOT_DIR))[:-3].replace("/", ".")
+        for i in tools_sources
+        if i.stem not in unwanted_tools
+    ]
+    create_one_file(
+        "pytorch3d.implicitron.tools",
+        "Tools for implicitron",
+        tools_modules,
+        DEST_DIR / "tools.rst",
+    )
+
+    dataset_files = sorted(ROOT_DIR.glob("pytorch3d/implicitron/dataset/*.py"))
+    basic_dataset = [
+        "dataset_base",
+        "dataset_map_provider",
+        "data_loader_map_provider",
+        "data_source",
+        "scene_batch_sampler",
+    ]
+    basic_dataset_modules = [
+        f"pytorch3d.implicitron.dataset.{i}" for i in basic_dataset
+    ]
+    create_one_file(
+        "pytorch3d.implicitron.dataset in general",
+        "Basics of data for implicitron",
+        basic_dataset_modules,
+        DEST_DIR / "data_basics.rst",
+    )
+
+    specific_dataset_files = [
+        i for i in dataset_files if i.stem.find("_dataset_map_provider") != -1
+    ]
+    create_one_file(
+        "pytorch3d.implicitron.dataset specific datasets",
+        "specific datasets",
+        paths_to_modules(specific_dataset_files),
+        DEST_DIR / "datasets.rst",
+    )
+
+    evaluation_files = sorted(ROOT_DIR.glob("pytorch3d/implicitron/evaluation/*.py"))
+    create_one_file(
+        "pytorch3d.implicitron.evaluation",
+        "evaluation",
+        paths_to_modules(evaluation_files),
+        DEST_DIR / "evaluation.rst",
+    )
+
+    make_directory_index("pytorch3d.implicitron", DEST_DIR)
+
+
+def iterate_toplevel_module(name: str) -> None:
+    dest_dir = Path(__file__).resolve().parent / "modules" / name
+    iterate_directory(ROOT_DIR / "pytorch3d" / name, dest_dir)
+
+
+do_implicitron()
+iterate_toplevel_module("renderer")
+iterate_toplevel_module("vis")
--- a/docs/modules/implicitron/data_basics.rst
+++ b/docs/modules/implicitron/data_basics.rst
@@ -0,0 +1,29 @@
+pytorch3d.implicitron.dataset in general
+========================================
+
+Basics of data for implicitron
+
+.. automodule:: pytorch3d.implicitron.dataset.dataset_base
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.dataset_map_provider
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.data_loader_map_provider
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.data_source
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.scene_batch_sampler
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/datasets.rst
+++ b/docs/modules/implicitron/datasets.rst
@@ -0,0 +1,29 @@
+pytorch3d.implicitron.dataset specific datasets
+===============================================
+
+specific datasets
+
+.. automodule:: pytorch3d.implicitron.dataset.blender_dataset_map_provider
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.json_index_dataset_map_provider
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.json_index_dataset_map_provider_v2
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.llff_dataset_map_provider
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.dataset.rendered_mesh_dataset_map_provider
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/evaluation.rst
+++ b/docs/modules/implicitron/evaluation.rst
@@ -0,0 +1,14 @@
+pytorch3d.implicitron.evaluation
+================================
+
+evaluation
+
+.. automodule:: pytorch3d.implicitron.evaluation.evaluate_new_view_synthesis
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.evaluation.evaluator
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/index.rst
+++ b/docs/modules/implicitron/index.rst
@@ -0,0 +1,10 @@
+pytorch3d.implicitron
+=====================
+
+.. toctree::
+
+    models/index.rst
+    data_basics
+    datasets
+    evaluation
+    tools
--- a/docs/modules/implicitron/models/base_model.rst
+++ b/docs/modules/implicitron/models/base_model.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.base_model
+=======================================
+
+base_model
+
+.. automodule:: pytorch3d.implicitron.models.base_model
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/feature_extractor/feature_extractor.rst
+++ b/docs/modules/implicitron/models/feature_extractor/feature_extractor.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.feature_extractor.feature_extractor
+================================================================
+
+feature_extractor
+
+.. automodule:: pytorch3d.implicitron.models.feature_extractor.feature_extractor
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/feature_extractor/index.rst
+++ b/docs/modules/implicitron/models/feature_extractor/index.rst
@@ -0,0 +1,7 @@
+pytorch3d.implicitron.models.feature_extractor
+==============================================
+
+.. toctree::
+
+    feature_extractor
+    resnet_feature_extractor
--- a/docs/modules/implicitron/models/feature_extractor/resnet_feature_extractor.rst
+++ b/docs/modules/implicitron/models/feature_extractor/resnet_feature_extractor.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.feature_extractor.resnet_feature_extractor
+=======================================================================
+
+resnet_feature_extractor
+
+.. automodule:: pytorch3d.implicitron.models.feature_extractor.resnet_feature_extractor
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/generic_model.rst
+++ b/docs/modules/implicitron/models/generic_model.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.generic_model
+==========================================
+
+generic_model
+
+.. automodule:: pytorch3d.implicitron.models.generic_model
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/global_encoder/autodecoder.rst
+++ b/docs/modules/implicitron/models/global_encoder/autodecoder.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.global_encoder.autodecoder
+=======================================================
+
+autodecoder
+
+.. automodule:: pytorch3d.implicitron.models.global_encoder.autodecoder
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/global_encoder/global_encoder.rst
+++ b/docs/modules/implicitron/models/global_encoder/global_encoder.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.global_encoder.global_encoder
+==========================================================
+
+global_encoder
+
+.. automodule:: pytorch3d.implicitron.models.global_encoder.global_encoder
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/global_encoder/index.rst
+++ b/docs/modules/implicitron/models/global_encoder/index.rst
@@ -0,0 +1,7 @@
+pytorch3d.implicitron.models.global_encoder
+===========================================
+
+.. toctree::
+
+    autodecoder
+    global_encoder
--- a/docs/modules/implicitron/models/implicit_function/base.rst
+++ b/docs/modules/implicitron/models/implicit_function/base.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.base
+===================================================
+
+base
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.base
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/implicit_function/decoding_functions.rst
+++ b/docs/modules/implicitron/models/implicit_function/decoding_functions.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.decoding_functions
+=================================================================
+
+decoding_functions
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.decoding_functions
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/implicit_function/idr_feature_field.rst
+++ b/docs/modules/implicitron/models/implicit_function/idr_feature_field.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.idr_feature_field
+================================================================
+
+idr_feature_field
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.idr_feature_field
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/implicit_function/index.rst
+++ b/docs/modules/implicitron/models/implicit_function/index.rst
@@ -0,0 +1,13 @@
+pytorch3d.implicitron.models.implicit_function
+==============================================
+
+.. toctree::
+
+    base
+    decoding_functions
+    idr_feature_field
+    neural_radiance_field
+    scene_representation_networks
+    utils
+    voxel_grid
+    voxel_grid_implicit_function
--- a/docs/modules/implicitron/models/implicit_function/neural_radiance_field.rst
+++ b/docs/modules/implicitron/models/implicit_function/neural_radiance_field.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.neural_radiance_field
+====================================================================
+
+neural_radiance_field
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.neural_radiance_field
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/implicit_function/scene_representation_networks.rst
+++ b/docs/modules/implicitron/models/implicit_function/scene_representation_networks.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.scene_representation_networks
+============================================================================
+
+scene_representation_networks
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.scene_representation_networks
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/implicit_function/utils.rst
+++ b/docs/modules/implicitron/models/implicit_function/utils.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.utils
+====================================================
+
+utils
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/implicit_function/voxel_grid.rst
+++ b/docs/modules/implicitron/models/implicit_function/voxel_grid.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.voxel_grid
+=========================================================
+
+voxel_grid
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.voxel_grid
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/implicit_function/voxel_grid_implicit_function.rst
+++ b/docs/modules/implicitron/models/implicit_function/voxel_grid_implicit_function.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.implicit_function.voxel_grid_implicit_function
+===========================================================================
+
+voxel_grid_implicit_function
+
+.. automodule:: pytorch3d.implicitron.models.implicit_function.voxel_grid_implicit_function
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/index.rst
+++ b/docs/modules/implicitron/models/index.rst
@@ -0,0 +1,15 @@
+pytorch3d.implicitron.models
+============================
+
+.. toctree::
+
+    base_model
+    generic_model
+    metrics
+    model_dbir
+    feature_extractor/index
+    global_encoder/index
+    implicit_function/index
+    renderer/index
+    view_pooler/index
+    visualization/index
--- a/docs/modules/implicitron/models/metrics.rst
+++ b/docs/modules/implicitron/models/metrics.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.metrics
+====================================
+
+metrics
+
+.. automodule:: pytorch3d.implicitron.models.metrics
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/model_dbir.rst
+++ b/docs/modules/implicitron/models/model_dbir.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.model_dbir
+=======================================
+
+model_dbir
+
+.. automodule:: pytorch3d.implicitron.models.model_dbir
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/base.rst
+++ b/docs/modules/implicitron/models/renderer/base.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.base
+==========================================
+
+base
+
+.. automodule:: pytorch3d.implicitron.models.renderer.base
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/index.rst
+++ b/docs/modules/implicitron/models/renderer/index.rst
@@ -0,0 +1,14 @@
+pytorch3d.implicitron.models.renderer
+=====================================
+
+.. toctree::
+
+    base
+    lstm_renderer
+    multipass_ea
+    ray_point_refiner
+    ray_sampler
+    ray_tracing
+    raymarcher
+    rgb_net
+    sdf_renderer
--- a/docs/modules/implicitron/models/renderer/lstm_renderer.rst
+++ b/docs/modules/implicitron/models/renderer/lstm_renderer.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.lstm_renderer
+===================================================
+
+lstm_renderer
+
+.. automodule:: pytorch3d.implicitron.models.renderer.lstm_renderer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/multipass_ea.rst
+++ b/docs/modules/implicitron/models/renderer/multipass_ea.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.multipass_ea
+==================================================
+
+multipass_ea
+
+.. automodule:: pytorch3d.implicitron.models.renderer.multipass_ea
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/ray_point_refiner.rst
+++ b/docs/modules/implicitron/models/renderer/ray_point_refiner.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.ray_point_refiner
+=======================================================
+
+ray_point_refiner
+
+.. automodule:: pytorch3d.implicitron.models.renderer.ray_point_refiner
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/ray_sampler.rst
+++ b/docs/modules/implicitron/models/renderer/ray_sampler.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.ray_sampler
+=================================================
+
+ray_sampler
+
+.. automodule:: pytorch3d.implicitron.models.renderer.ray_sampler
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/ray_tracing.rst
+++ b/docs/modules/implicitron/models/renderer/ray_tracing.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.ray_tracing
+=================================================
+
+ray_tracing
+
+.. automodule:: pytorch3d.implicitron.models.renderer.ray_tracing
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/raymarcher.rst
+++ b/docs/modules/implicitron/models/renderer/raymarcher.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.raymarcher
+================================================
+
+raymarcher
+
+.. automodule:: pytorch3d.implicitron.models.renderer.raymarcher
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/rgb_net.rst
+++ b/docs/modules/implicitron/models/renderer/rgb_net.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.rgb_net
+=============================================
+
+rgb_net
+
+.. automodule:: pytorch3d.implicitron.models.renderer.rgb_net
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/renderer/sdf_renderer.rst
+++ b/docs/modules/implicitron/models/renderer/sdf_renderer.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.renderer.sdf_renderer
+==================================================
+
+sdf_renderer
+
+.. automodule:: pytorch3d.implicitron.models.renderer.sdf_renderer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/view_pooler/feature_aggregator.rst
+++ b/docs/modules/implicitron/models/view_pooler/feature_aggregator.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.view_pooler.feature_aggregator
+===========================================================
+
+feature_aggregator
+
+.. automodule:: pytorch3d.implicitron.models.view_pooler.feature_aggregator
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/view_pooler/index.rst
+++ b/docs/modules/implicitron/models/view_pooler/index.rst
@@ -0,0 +1,8 @@
+pytorch3d.implicitron.models.view_pooler
+========================================
+
+.. toctree::
+
+    feature_aggregator
+    view_pooler
+    view_sampler
--- a/docs/modules/implicitron/models/view_pooler/view_pooler.rst
+++ b/docs/modules/implicitron/models/view_pooler/view_pooler.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.view_pooler.view_pooler
+====================================================
+
+view_pooler
+
+.. automodule:: pytorch3d.implicitron.models.view_pooler.view_pooler
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/view_pooler/view_sampler.rst
+++ b/docs/modules/implicitron/models/view_pooler/view_sampler.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.view_pooler.view_sampler
+=====================================================
+
+view_sampler
+
+.. automodule:: pytorch3d.implicitron.models.view_pooler.view_sampler
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/models/visualization/index.rst
+++ b/docs/modules/implicitron/models/visualization/index.rst
@@ -0,0 +1,6 @@
+pytorch3d.implicitron.models.visualization
+==========================================
+
+.. toctree::
+
+    render_flyaround
--- a/docs/modules/implicitron/models/visualization/render_flyaround.rst
+++ b/docs/modules/implicitron/models/visualization/render_flyaround.rst
@@ -0,0 +1,9 @@
+pytorch3d.implicitron.models.visualization.render_flyaround
+===========================================================
+
+render_flyaround
+
+.. automodule:: pytorch3d.implicitron.models.visualization.render_flyaround
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/implicitron/tools.rst
+++ b/docs/modules/implicitron/tools.rst
@@ -0,0 +1,64 @@
+pytorch3d.implicitron.tools
+===========================
+
+Tools for implicitron
+
+.. automodule:: pytorch3d.implicitron.tools.camera_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.circle_fitting
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.config
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.eval_video_trajectory
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.image_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.metric_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.model_io
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.point_cloud_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.rasterize_mc
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.stats
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.video_writer
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. automodule:: pytorch3d.implicitron.tools.vis_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/index.rst
+++ b/docs/modules/index.rst
@@ -12,4 +12,5 @@ API Documentation
    utils
    datasets
    common
-    vis
+    vis/index
+    implicitron/index
--- a/docs/modules/renderer/blending.rst
+++ b/docs/modules/renderer/blending.rst
@@ -1,7 +1,9 @@
-blending
+pytorch3d.renderer.blending
 ===========================

+blending
+
 .. automodule:: pytorch3d.renderer.blending
    :members:
    :undoc-members:
-    :show-inheritance:
+    :show-inheritance:
--- a/docs/modules/renderer/camera_conversions.rst
+++ b/docs/modules/renderer/camera_conversions.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.camera_conversions
+=====================================
+
+camera_conversions
+
+.. automodule:: pytorch3d.renderer.camera_conversions
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/camera_utils.rst
+++ b/docs/modules/renderer/camera_utils.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.camera_utils
+===============================
+
+camera_utils
+
+.. automodule:: pytorch3d.renderer.camera_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/cameras.rst
+++ b/docs/modules/renderer/cameras.rst
@@ -1,7 +1,9 @@
+pytorch3d.renderer.cameras
+==========================
+
 cameras
-===========================

 .. automodule:: pytorch3d.renderer.cameras
    :members:
    :undoc-members:
-    :show-inheritance:
+    :show-inheritance:
--- a/docs/modules/renderer/compositing.rst
+++ b/docs/modules/renderer/compositing.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.compositing
+==============================
+
+compositing
+
+.. automodule:: pytorch3d.renderer.compositing
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/fisheyecameras.rst
+++ b/docs/modules/renderer/fisheyecameras.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.fisheyecameras
+=================================
+
+fisheyecameras
+
+.. automodule:: pytorch3d.renderer.fisheyecameras
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/implicit/harmonic_embedding.rst
+++ b/docs/modules/renderer/implicit/harmonic_embedding.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.implicit.harmonic_embedding
+==============================================
+
+harmonic_embedding
+
+.. automodule:: pytorch3d.renderer.implicit.harmonic_embedding
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/implicit/index.rst
+++ b/docs/modules/renderer/implicit/index.rst
@@ -0,0 +1,11 @@
+pytorch3d.renderer.implicit
+===========================
+
+.. toctree::
+
+    harmonic_embedding
+    raymarching
+    raysampling
+    renderer
+    sample_pdf
+    utils
--- a/docs/modules/renderer/implicit/raymarching.rst
+++ b/docs/modules/renderer/implicit/raymarching.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.implicit.raymarching
+=======================================
+
+raymarching
+
+.. automodule:: pytorch3d.renderer.implicit.raymarching
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/implicit/raysampling.rst
+++ b/docs/modules/renderer/implicit/raysampling.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.implicit.raysampling
+=======================================
+
+raysampling
+
+.. automodule:: pytorch3d.renderer.implicit.raysampling
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/implicit/renderer.rst
+++ b/docs/modules/renderer/implicit/renderer.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.implicit.renderer
+====================================
+
+renderer
+
+.. automodule:: pytorch3d.renderer.implicit.renderer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/implicit/sample_pdf.rst
+++ b/docs/modules/renderer/implicit/sample_pdf.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.implicit.sample_pdf
+======================================
+
+sample_pdf
+
+.. automodule:: pytorch3d.renderer.implicit.sample_pdf
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/implicit/utils.rst
+++ b/docs/modules/renderer/implicit/utils.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.implicit.utils
+=================================
+
+utils
+
+.. automodule:: pytorch3d.renderer.implicit.utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/index.rst
+++ b/docs/modules/renderer/index.rst
@@ -1,15 +1,19 @@
-pytorch3d.renderer 
-===========================
+pytorch3d.renderer
+==================

 .. toctree::

-    rasterizer
+    blending
+    camera_conversions
+    camera_utils
    cameras
+    compositing
+    fisheyecameras
    lighting
    materials
-    texturing
-    blending
-    shading
-    shader
-    renderer
-    utils
+    splatter_blend
+    utils
+    implicit/index
+    mesh/index
+    opengl/index
+    points/index
--- a/docs/modules/renderer/lighting.rst
+++ b/docs/modules/renderer/lighting.rst
@@ -1,6 +1,9 @@
-lighting
+pytorch3d.renderer.lighting
 ===========================

+lighting
+
 .. automodule:: pytorch3d.renderer.lighting
    :members:
-    :undoc-members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/materials.rst
+++ b/docs/modules/renderer/materials.rst
@@ -1,7 +1,9 @@
+pytorch3d.renderer.materials
+============================
+
 materials
-===========================

 .. automodule:: pytorch3d.renderer.materials
    :members:
    :undoc-members:
-    :show-inheritance:
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/clip.rst
+++ b/docs/modules/renderer/mesh/clip.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.mesh.clip
+============================
+
+clip
+
+.. automodule:: pytorch3d.renderer.mesh.clip
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/index.rst
+++ b/docs/modules/renderer/mesh/index.rst
@@ -0,0 +1,13 @@
+pytorch3d.renderer.mesh
+=======================
+
+.. toctree::
+
+    clip
+    rasterize_meshes
+    rasterizer
+    renderer
+    shader
+    shading
+    textures
+    utils
--- a/docs/modules/renderer/mesh/rasterize_meshes.rst
+++ b/docs/modules/renderer/mesh/rasterize_meshes.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.mesh.rasterize_meshes
+========================================
+
+rasterize_meshes
+
+.. automodule:: pytorch3d.renderer.mesh.rasterize_meshes
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/rasterizer.rst
+++ b/docs/modules/renderer/mesh/rasterizer.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.mesh.rasterizer
+==================================
+
+rasterizer
+
+.. automodule:: pytorch3d.renderer.mesh.rasterizer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/renderer.rst
+++ b/docs/modules/renderer/mesh/renderer.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.mesh.renderer
+================================
+
+renderer
+
+.. automodule:: pytorch3d.renderer.mesh.renderer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/shader.rst
+++ b/docs/modules/renderer/mesh/shader.rst
@@ -1,7 +1,9 @@
+pytorch3d.renderer.mesh.shader
+==============================
+
 shader
-===========================

 .. automodule:: pytorch3d.renderer.mesh.shader
    :members:
    :undoc-members:
-    
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/shading.rst
+++ b/docs/modules/renderer/mesh/shading.rst
@@ -1,7 +1,9 @@
+pytorch3d.renderer.mesh.shading
+===============================
+
 shading
-===========================

 .. automodule:: pytorch3d.renderer.mesh.shading
    :members:
    :undoc-members:
-    
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/textures.rst
+++ b/docs/modules/renderer/mesh/textures.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.mesh.textures
+================================
+
+textures
+
+.. automodule:: pytorch3d.renderer.mesh.textures
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/mesh/utils.rst
+++ b/docs/modules/renderer/mesh/utils.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.mesh.utils
+=============================
+
+utils
+
+.. automodule:: pytorch3d.renderer.mesh.utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/opengl/index.rst
+++ b/docs/modules/renderer/opengl/index.rst
@@ -0,0 +1,7 @@
+pytorch3d.renderer.opengl
+=========================
+
+.. toctree::
+
+    opengl_utils
+    rasterizer_opengl
--- a/docs/modules/renderer/opengl/opengl_utils.rst
+++ b/docs/modules/renderer/opengl/opengl_utils.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.opengl.opengl_utils
+======================================
+
+opengl_utils
+
+.. automodule:: pytorch3d.renderer.opengl.opengl_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/opengl/rasterizer_opengl.rst
+++ b/docs/modules/renderer/opengl/rasterizer_opengl.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.opengl.rasterizer_opengl
+===========================================
+
+rasterizer_opengl
+
+.. automodule:: pytorch3d.renderer.opengl.rasterizer_opengl
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/points/compositor.rst
+++ b/docs/modules/renderer/points/compositor.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.points.compositor
+====================================
+
+compositor
+
+.. automodule:: pytorch3d.renderer.points.compositor
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/points/index.rst
+++ b/docs/modules/renderer/points/index.rst
@@ -0,0 +1,10 @@
+pytorch3d.renderer.points
+=========================
+
+.. toctree::
+
+    compositor
+    rasterize_points
+    rasterizer
+    renderer
+    pulsar/index
--- a/docs/modules/renderer/points/pulsar/index.rst
+++ b/docs/modules/renderer/points/pulsar/index.rst
@@ -0,0 +1,7 @@
+pytorch3d.renderer.points.pulsar
+================================
+
+.. toctree::
+
+    renderer
+    unified
--- a/docs/modules/renderer/points/pulsar/renderer.rst
+++ b/docs/modules/renderer/points/pulsar/renderer.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.points.pulsar.renderer
+=========================================
+
+renderer
+
+.. automodule:: pytorch3d.renderer.points.pulsar.renderer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/points/pulsar/unified.rst
+++ b/docs/modules/renderer/points/pulsar/unified.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.points.pulsar.unified
+========================================
+
+unified
+
+.. automodule:: pytorch3d.renderer.points.pulsar.unified
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/points/rasterize_points.rst
+++ b/docs/modules/renderer/points/rasterize_points.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.points.rasterize_points
+==========================================
+
+rasterize_points
+
+.. automodule:: pytorch3d.renderer.points.rasterize_points
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/points/rasterizer.rst
+++ b/docs/modules/renderer/points/rasterizer.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.points.rasterizer
+====================================
+
+rasterizer
+
+.. automodule:: pytorch3d.renderer.points.rasterizer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/points/renderer.rst
+++ b/docs/modules/renderer/points/renderer.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.points.renderer
+==================================
+
+renderer
+
+.. automodule:: pytorch3d.renderer.points.renderer
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/rasterizer.rst
+++ b/docs/modules/renderer/rasterizer.rst
@@ -1,10 +0,0 @@
-rasterizer
-===========================
-
-.. automodule:: pytorch3d.renderer.mesh.rasterize_meshes
-    :members:
-    :undoc-members:
-    
-.. automodule:: pytorch3d.renderer.mesh.rasterizer
-    :members:
-    :undoc-members:
--- a/docs/modules/renderer/splatter_blend.rst
+++ b/docs/modules/renderer/splatter_blend.rst
@@ -0,0 +1,9 @@
+pytorch3d.renderer.splatter_blend
+=================================
+
+splatter_blend
+
+.. automodule:: pytorch3d.renderer.splatter_blend
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/renderer/texturing.rst
+++ b/docs/modules/renderer/texturing.rst
@@ -1,7 +0,0 @@
-texturing
-===========================
-
-.. automodule:: pytorch3d.renderer.mesh.texturing
-    :members:
-    :undoc-members:
-    
--- a/docs/modules/renderer/utils.rst
+++ b/docs/modules/renderer/utils.rst
@@ -1,6 +1,9 @@
+pytorch3d.renderer.utils
+========================
+
 utils
-===========================

 .. automodule:: pytorch3d.renderer.utils
    :members:
-    :undoc-members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/vis.rst
+++ b/docs/modules/vis.rst
@@ -1,6 +0,0 @@
-pytorch3d.vis
-===========================
-
-.. automodule:: pytorch3d.vis
-    :members:
-    :undoc-members:
--- a/docs/modules/vis/index.rst
+++ b/docs/modules/vis/index.rst
@@ -0,0 +1,7 @@
+pytorch3d.vis
+=============
+
+.. toctree::
+
+    plotly_vis
+    texture_vis
--- a/docs/modules/vis/plotly_vis.rst
+++ b/docs/modules/vis/plotly_vis.rst
@@ -0,0 +1,9 @@
+pytorch3d.vis.plotly_vis
+========================
+
+plotly_vis
+
+.. automodule:: pytorch3d.vis.plotly_vis
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/modules/vis/texture_vis.rst
+++ b/docs/modules/vis/texture_vis.rst
@@ -0,0 +1,9 @@
+pytorch3d.vis.texture_vis
+=========================
+
+texture_vis
+
+.. automodule:: pytorch3d.vis.texture_vis
+    :members:
+    :undoc-members:
+    :show-inheritance:
--- a/docs/notes/iou3d.md
+++ b/docs/notes/iou3d.md
@@ -62,7 +62,7 @@ Below we compare the performance for Objectron (in C++) and our algorithm, in C+
 ```python
 from pytorch3d.ops import box3d_overlap
 # Assume inputs: boxes1 (M, 8, 3) and boxes2 (N, 8, 3)
-intersection_vol, iou_3d = box3d_overal(boxes1, boxes2)
+intersection_vol, iou_3d = box3d_overlap(boxes1, boxes2)
 ```

 For more details, read [iou_box3d.py](https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/ops/iou_box3d.py).
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -5,7 +5,8 @@ sphinx_rtd_theme
 sphinx_markdown_tables
 mock
 numpy
-git+git://github.com/facebookresearch/fvcore.git
-git+git://github.com/facebookresearch/iopath.git
+iopath
+fvcore
 https://download.pytorch.org/whl/cpu/torchvision-0.8.2%2Bcpu-cp37-cp37m-linux_x86_64.whl
 https://download.pytorch.org/whl/cpu/torch-1.7.1%2Bcpu-cp37-cp37m-linux_x86_64.whl
+omegaconf
--- a/docs/tutorials/bundle_adjustment.ipynb
+++ b/docs/tutorials/bundle_adjustment.ipynb
@@ -89,7 +89,7 @@
    "except ModuleNotFoundError:\n",
    "    need_pytorch3d=True\n",
    "if need_pytorch3d:\n",
-    "    if torch.__version__.startswith(\"1.12.\") and sys.platform.startswith(\"linux\"):\n",
+    "    if torch.__version__.startswith(\"1.13.\") and sys.platform.startswith(\"linux\"):\n",
    "        # We try to install PyTorch3D via a released wheel.\n",
    "        pyt_version_str=torch.__version__.split(\"+\")[0].replace(\".\", \"\")\n",
    "        version_str=\"\".join([\n",
--- a/docs/tutorials/camera_position_optimization_with_differentiable_rendering.ipynb
+++ b/docs/tutorials/camera_position_optimization_with_differentiable_rendering.ipynb
@@ -76,7 +76,7 @@
    "except ModuleNotFoundError:\n",
    "    need_pytorch3d=True\n",
    "if need_pytorch3d:\n",
-    "    if torch.__version__.startswith(\"1.12.\") and sys.platform.startswith(\"linux\"):\n",
+    "    if torch.__version__.startswith(\"1.13.\") and sys.platform.startswith(\"linux\"):\n",
    "        # We try to install PyTorch3D via a released wheel.\n",
    "        pyt_version_str=torch.__version__.split(\"+\")[0].replace(\".\", \"\")\n",
    "        version_str=\"\".join([\n",
--- a/Show More
+++ b/Show More