version 0.7.4

Summary: version number Reviewed By: shapovalov Differential Revision: D45704549 fbshipit-source-id: d63867f305b07c30ed9ea104f1494d23710fdbb7
builds for PyTorch 2.0.1; drop 1.9
2025-12-23 15:50:39 +08:00 · 2023-05-10 04:42:58 -07:00 · 2023-05-10 02:38:47 -07:00 · 2023-05-09 04:56:39 -07:00 · 2023-05-08 13:53:16 -07:00 · 2023-05-07 06:32:02 -07:00
274 changed files with 10835 additions and 2635 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
@@ -180,177 +180,6 @@ workflows:
    jobs:
      # - main:
      #     context: DOCKERHUB_TOKEN
-      - 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: cu102
-          name: linux_conda_py37_cu102_pyt1121
-          python_version: '3.7'
-          pytorch_version: 1.12.1
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda113
-          context: DOCKERHUB_TOKEN
-          cu_version: cu113
-          name: linux_conda_py37_cu113_pyt1121
-          python_version: '3.7'
-          pytorch_version: 1.12.1
-      - binary_linux_conda:
-          conda_docker_image: pytorch/conda-builder:cuda116
-          context: DOCKERHUB_TOKEN
-          cu_version: cu116
-          name: linux_conda_py37_cu116_pyt1121
-          python_version: '3.7'
-          pytorch_version: 1.12.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py38_cu102_pyt190
-          python_version: '3.8'
-          pytorch_version: 1.9.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py38_cu111_pyt190
-          python_version: '3.8'
-          pytorch_version: 1.9.0
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py38_cu102_pyt191
-          python_version: '3.8'
-          pytorch_version: 1.9.1
-      - binary_linux_conda:
-          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py38_cu111_pyt191
-          python_version: '3.8'
-          pytorch_version: 1.9.1
      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
          cu_version: cu102
@@ -475,29 +304,61 @@ workflows:
          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_pyt190
-          python_version: '3.9'
-          pytorch_version: 1.9.0
+          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_pyt190
-          python_version: '3.9'
-          pytorch_version: 1.9.0
+          cu_version: cu117
+          name: linux_conda_py38_cu117_pyt1130
+          python_version: '3.8'
+          pytorch_version: 1.13.0
      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
          context: DOCKERHUB_TOKEN
-          cu_version: cu102
-          name: linux_conda_py39_cu102_pyt191
-          python_version: '3.9'
-          pytorch_version: 1.9.1
+          cu_version: cu116
+          name: linux_conda_py38_cu116_pyt1131
+          python_version: '3.8'
+          pytorch_version: 1.13.1
      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
          context: DOCKERHUB_TOKEN
-          cu_version: cu111
-          name: linux_conda_py39_cu111_pyt191
-          python_version: '3.9'
-          pytorch_version: 1.9.1
+          cu_version: cu117
+          name: linux_conda_py38_cu117_pyt1131
+          python_version: '3.8'
+          pytorch_version: 1.13.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py38_cu117_pyt200
+          python_version: '3.8'
+          pytorch_version: 2.0.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda118
+          context: DOCKERHUB_TOKEN
+          cu_version: cu118
+          name: linux_conda_py38_cu118_pyt200
+          python_version: '3.8'
+          pytorch_version: 2.0.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py38_cu117_pyt201
+          python_version: '3.8'
+          pytorch_version: 2.0.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda118
+          context: DOCKERHUB_TOKEN
+          cu_version: cu118
+          name: linux_conda_py38_cu118_pyt201
+          python_version: '3.8'
+          pytorch_version: 2.0.1
      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
          cu_version: cu102
@@ -621,6 +482,62 @@ workflows:
          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:
+          conda_docker_image: pytorch/conda-builder:cuda116
+          context: DOCKERHUB_TOKEN
+          cu_version: cu116
+          name: linux_conda_py39_cu116_pyt1131
+          python_version: '3.9'
+          pytorch_version: 1.13.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py39_cu117_pyt1131
+          python_version: '3.9'
+          pytorch_version: 1.13.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py39_cu117_pyt200
+          python_version: '3.9'
+          pytorch_version: 2.0.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda118
+          context: DOCKERHUB_TOKEN
+          cu_version: cu118
+          name: linux_conda_py39_cu118_pyt200
+          python_version: '3.9'
+          pytorch_version: 2.0.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py39_cu117_pyt201
+          python_version: '3.9'
+          pytorch_version: 2.0.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda118
+          context: DOCKERHUB_TOKEN
+          cu_version: cu118
+          name: linux_conda_py39_cu118_pyt201
+          python_version: '3.9'
+          pytorch_version: 2.0.1
      - binary_linux_conda:
          context: DOCKERHUB_TOKEN
          cu_version: cu102
@@ -687,24 +604,80 @@ workflows:
          name: linux_conda_py310_cu116_pyt1121
          python_version: '3.10'
          pytorch_version: 1.12.1
-      - binary_linux_conda_cuda:
-          name: testrun_conda_cuda_py37_cu102_pyt190
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda116
          context: DOCKERHUB_TOKEN
-          python_version: "3.7"
+          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:
+          conda_docker_image: pytorch/conda-builder:cuda116
+          context: DOCKERHUB_TOKEN
+          cu_version: cu116
+          name: linux_conda_py310_cu116_pyt1131
+          python_version: '3.10'
+          pytorch_version: 1.13.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py310_cu117_pyt1131
+          python_version: '3.10'
+          pytorch_version: 1.13.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py310_cu117_pyt200
+          python_version: '3.10'
+          pytorch_version: 2.0.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda118
+          context: DOCKERHUB_TOKEN
+          cu_version: cu118
+          name: linux_conda_py310_cu118_pyt200
+          python_version: '3.10'
+          pytorch_version: 2.0.0
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda117
+          context: DOCKERHUB_TOKEN
+          cu_version: cu117
+          name: linux_conda_py310_cu117_pyt201
+          python_version: '3.10'
+          pytorch_version: 2.0.1
+      - binary_linux_conda:
+          conda_docker_image: pytorch/conda-builder:cuda118
+          context: DOCKERHUB_TOKEN
+          cu_version: cu118
+          name: linux_conda_py310_cu118_pyt201
+          python_version: '3.10'
+          pytorch_version: 2.0.1
+      - 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
@@ -20,38 +20,30 @@ 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 = {
-    "1.9.0": ["cu102", "cu111"],
-    "1.9.1": ["cu102", "cu111"],
    "1.10.0": ["cu102", "cu111", "cu113"],
    "1.10.1": ["cu102", "cu111", "cu113"],
    "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"],
+    "1.13.1": ["cu116", "cu117"],
+    "2.0.0": ["cu117", "cu118"],
+    "2.0.1": ["cu117", "cu118"],
 }


 def conda_docker_image_for_cuda(cuda_version):
    if cuda_version in ("cu101", "cu102", "cu111"):
        return None
-    if cuda_version == "cu113":
-        return "pytorch/conda-builder:cuda113"
-    if cuda_version == "cu115":
-        return "pytorch/conda-builder:cuda115"
-    if cuda_version == "cu116":
-        return "pytorch/conda-builder:cuda116"
-    raise ValueError("Unknown cuda version")
+    if len(cuda_version) != 5:
+        raise ValueError("Unknown cuda version")
+    return "pytorch/conda-builder:cuda" + cuda_version[2:]


 def pytorch_versions_for_python(python_version):
-    if python_version in ["3.7", "3.8"]:
+    if python_version in ["3.8", "3.9"]:
        return list(CONDA_CUDA_VERSIONS)
-    if python_version == "3.9":
-        return [
-            i
-            for i in CONDA_CUDA_VERSIONS
-            if version.Version(i) > version.Version("1.7.0")
-        ]
    if python_version == "3.10":
        return [
            i
@@ -63,7 +55,7 @@ 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/implicitron_config.gif
+++ b/.github/implicitron_config.gif
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -8,24 +8,24 @@
 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 1.10.0, 1.10.1, 1.10.2, 1.11.0, 1.12.0, 1.12.1, 1.13.0, 2.0.0 or 2.0.1.
 - 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)
 - [ioPath](https://github.com/facebookresearch/iopath)
 - If CUDA is to be used, use a version which is supported by the corresponding pytorch version and at least version 9.2.
- If CUDA is to be used and you are building from source, the CUB library must be available. We recommend version 1.10.0.
+- If CUDA older than 11.7 is to be used and you are building from source, the CUB library must be available. We recommend version 1.10.0.

 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 pytorch=1.13.0 torchvision pytorch-cuda=11.6 -c pytorch -c nvidia
 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
 ```
@@ -102,6 +102,7 @@ version_str="".join([
    torch.version.cuda.replace(".",""),
    f"_pyt{pyt_version_str}"
 ])
+!pip install fvcore iopath
 !pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/{version_str}/download.html
 ```

--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@ Key features include:
 - Data structure for storing and manipulating triangle meshes
 - Efficient operations on triangle meshes (projective transformations, graph convolution, sampling, loss functions)
 - A differentiable mesh renderer
- Implicitron, see [its README](projects/implicitron_trainer), a framework for new-view synthesis via implicit representations.
+- Implicitron, see [its README](projects/implicitron_trainer), a framework for new-view synthesis via implicit representations. ([blog post](https://ai.facebook.com/blog/implicitron-a-new-modular-extensible-framework-for-neural-implicit-representations-in-pytorch3d/))

 PyTorch3D is designed to integrate smoothly with deep learning methods for predicting and manipulating 3D data.
 For this reason, all operators in PyTorch3D:
@@ -24,6 +24,8 @@ For this reason, all operators in PyTorch3D:

 Within FAIR, PyTorch3D has been used to power research projects such as [Mesh R-CNN](https://arxiv.org/abs/1906.02739).

+See our [blog post](https://ai.facebook.com/blog/-introducing-pytorch3d-an-open-source-library-for-3d-deep-learning/) to see more demos and learn about PyTorch3D.
+
 ## Installation

 For detailed instructions refer to [INSTALL.md](INSTALL.md).
@@ -56,6 +58,11 @@ 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 +102,7 @@ In alphabetical order:
 * Amitav Baruah
 * Steve Branson
 * Krzysztof Chalupka
+* Jiali Duan
 * Luya Gao
 * Georgia Gkioxari
 * Taylor Gordon
@@ -138,6 +146,10 @@ 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).

+**[Dec 19th 2022]:**   PyTorch3D [v0.7.2](https://github.com/facebookresearch/pytorch3d/releases/tag/v0.7.2) released.
+
+**[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
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -20,7 +20,8 @@
 import os
 import sys

-import mock
+import unittest.mock as mock
+
 from recommonmark.parser import CommonMarkParser
 from recommonmark.states import DummyStateMachine
 from sphinx.builders.html import StandaloneHTMLBuilder
--- 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/cameras.md
+++ b/docs/notes/cameras.md
@@ -85,7 +85,7 @@ cameras_ndc = PerspectiveCameras(focal_length=fcl_ndc, principal_point=prp_ndc)
 # Screen space camera
 image_size = ((128, 256),)    # (h, w)
 fcl_screen = (76.8,)          # fcl_ndc * min(image_size) / 2
-prp_screen = ((115.2, 48), )  # w / 2 - px_ndc * min(image_size) / 2, h / 2 - py_ndc * min(image_size) / 2
+prp_screen = ((115.2, 32), )  # w / 2 - px_ndc * min(image_size) / 2, h / 2 - py_ndc * min(image_size) / 2
 cameras_screen = PerspectiveCameras(focal_length=fcl_screen, principal_point=prp_screen, in_ndc=False, image_size=image_size)
 ```

--- a/docs/notes/io.md
+++ b/docs/notes/io.md
@@ -7,20 +7,20 @@ sidebar_label: File IO
 There is a flexible interface for loading and saving point clouds and meshes from different formats.

 The main usage is via the `pytorch3d.io.IO` object, and its methods
-`load_mesh`, `save_mesh`, `load_point_cloud` and `save_point_cloud`.
+`load_mesh`, `save_mesh`, `load_pointcloud` and `save_pointcloud`.

 For example, to load a mesh you might do
 ```
 from pytorch3d.io import IO

 device=torch.device("cuda:0")
-mesh = IO().load_mesh("mymesh.ply", device=device)
+mesh = IO().load_mesh("mymesh.obj", device=device)
 ```

 and to save a pointcloud you might do
 ```
 pcl = Pointclouds(...)
-IO().save_point_cloud(pcl, "output_pointcloud.obj")
+IO().save_pointcloud(pcl, "output_pointcloud.ply")
 ```

 For meshes, this supports OBJ, PLY and OFF files.
@@ -31,4 +31,4 @@ In addition, there is experimental support for loading meshes from
 [glTF 2 assets](https://github.com/KhronosGroup/glTF/tree/master/specification/2.0)
 stored either in a GLB container file or a glTF JSON file with embedded binary data.
 This must be enabled explicitly, as described in
-`pytorch3d/io/experimental_gltf_io.ply`.
+`pytorch3d/io/experimental_gltf_io.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.\", \"2.0.\")) 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",
@@ -101,9 +101,6 @@
    "        !pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/{version_str}/download.html\n",
    "    else:\n",
    "        # We try to install PyTorch3D from source.\n",
-    "        !curl -LO https://github.com/NVIDIA/cub/archive/1.10.0.tar.gz\n",
-    "        !tar xzf 1.10.0.tar.gz\n",
-    "        os.environ[\"CUB_HOME\"] = os.getcwd() + \"/cub-1.10.0\"\n",
    "        !pip install 'git+https://github.com/facebookresearch/pytorch3d.git@stable'"
   ]
  },
--- 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.\", \"2.0.\")) 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",
@@ -88,9 +88,6 @@
    "        !pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/{version_str}/download.html\n",
    "    else:\n",
    "        # We try to install PyTorch3D from source.\n",
-    "        !curl -LO https://github.com/NVIDIA/cub/archive/1.10.0.tar.gz\n",
-    "        !tar xzf 1.10.0.tar.gz\n",
-    "        os.environ[\"CUB_HOME\"] = os.getcwd() + \"/cub-1.10.0\"\n",
    "        !pip install 'git+https://github.com/facebookresearch/pytorch3d.git@stable'"
   ]
  },
--- a/docs/tutorials/dataloaders_ShapeNetCore_R2N2.ipynb
+++ b/docs/tutorials/dataloaders_ShapeNetCore_R2N2.ipynb
@@ -51,7 +51,7 @@
    "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.\", \"2.0.\")) 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",
@@ -63,9 +63,6 @@
    "        !pip install --no-index --no-cache-dir pytorch3d -f https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/{version_str}/download.html\n",
    "    else:\n",
    "        # We try to install PyTorch3D from source.\n",
-    "        !curl -LO https://github.com/NVIDIA/cub/archive/1.10.0.tar.gz\n",
-    "        !tar xzf 1.10.0.tar.gz\n",
-    "        os.environ[\"CUB_HOME\"] = os.getcwd() + \"/cub-1.10.0\"\n",
    "        !pip install 'git+https://github.com/facebookresearch/pytorch3d.git@stable'"
   ]
  },
--- a/Show More
+++ b/Show More