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Nikita Smetanin d7d740abe9 Symmetric eigen 3x3 implementation + benchmark & tests 
Summary:
Symmetric eigenvalues 3x3 implementation from https://github.com/fairinternal/denseposeslim/blob/roman_c3dpo/tools/functions.py#L612

based on https://en.wikipedia.org/wiki/Eigenvalue_algorithm#3.C3.973_matrices and https://www.geometrictools.com/Documentation/RobustEigenSymmetric3x3.pdf

Benchmarks show significant outperformance of symeig3x3 in comparison with torch implementations (torch.symeig and torch.linalg.eigh) on GPU (P100), especially for large batches: 70-280ns per sample vs 3400ns per sample for torch_linalg_eigh_1048576_cpu

It's worth mentioning that torch.linalg.eigh is still comparably fast for batches up to 8192 on CPU.

Some tests are still failing as the error thresholds need to be adjusted appropriately.

Reviewed By: patricklabatut

Differential Revision: D29915453

fbshipit-source-id: 7c1b062da631c57c4e22a42dd0027ea5e205f1b5
2021-10-06 10:57:07 -07:00
..
data
(new) CUDA IoU for 3D boxes
2021-09-29 18:49:09 -07:00
pulsar
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__init__.py
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bm_acos_linear_extrapolation.py
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bm_ball_query.py
Ball Query
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bm_barycentric_clipping.py
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bm_blending.py
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bm_cameras_alignment.py
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bm_chamfer.py
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bm_cubify.py
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bm_face_areas_normals.py
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bm_graph_conv.py
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bm_interpolate_face_attributes.py
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bm_iou_box3d.py
(new) CUDA IoU for 3D boxes
2021-09-29 18:49:09 -07:00
bm_knn.py
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bm_lighting.py
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bm_main.py
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bm_marching_cubes.py
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bm_mesh_edge_loss.py
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bm_mesh_io.py
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bm_mesh_laplacian_smoothing.py
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bm_mesh_normal_consistency.py
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bm_mesh_rasterizer_transform.py
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bm_meshes.py
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bm_packed_to_padded.py
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bm_perspective_n_points.py
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bm_point_mesh_distance.py
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bm_pointclouds.py
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bm_points_alignment.py
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bm_points_to_volumes.py
cpu benchmarks for points to volumes
2021-08-17 05:59:07 -07:00
bm_pulsar.py
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bm_rasterize_meshes.py
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bm_rasterize_points.py
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bm_raymarching.py
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bm_raysampling.py
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bm_render_implicit.py
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bm_render_volumes.py
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bm_sample_farthest_points.py
Farthest point sampling CUDA
2021-09-15 13:49:22 -07:00
bm_sample_pdf.py
sample_pdf CUDA and C++ implementations.
2021-08-17 08:07:55 -07:00
bm_sample_points_from_meshes.py
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bm_se3.py
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bm_so3.py
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bm_subdivide_meshes.py
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bm_symeig3x3.py
Symmetric eigen 3x3 implementation + benchmark & tests
2021-10-06 10:57:07 -07:00
bm_vert_align.py
License lint codebase
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common_testing.py
let build tests run in conda
2021-08-17 04:26:27 -07:00
test_acos_linear_extrapolation.py
make so3_log_map torch script compatible
2021-09-10 11:13:26 -07:00
test_ball_query.py
Ball Query
2021-08-12 14:06:32 -07:00
test_blending.py
License lint codebase
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test_build.py
update test_build for robustness
2021-09-02 09:32:29 -07:00
test_camera_conversions.py
Add OpenCV camera conversion; fix bug for camera unified PyTorch3D interface.
2021-07-10 01:06:56 -07:00
test_camera_utils.py
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2021-06-22 03:45:27 -07:00
test_cameras_alignment.py
Deprecate so3_exponential_map
2021-06-28 04:28:06 -07:00
test_cameras.py
NDC/screen cameras API fix, compatibility with renderer
2021-08-02 01:01:10 -07:00
test_chamfer.py
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test_common_testing.py
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test_common_workaround.py
Replace torch.det() with manual implementation for 3x3 matrix
2021-07-19 05:02:51 -07:00
test_compositing.py
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test_cubify.py
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test_face_areas_normals.py
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test_graph_conv.py
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test_interpolate_face_attributes.py
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test_io_gltf.py
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test_io_obj.py
Save UV texture with obj mesh
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test_io_off.py
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test_io_ply.py
save colors as uint8 in PLY
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test_iou_box3d.py
(new) CUDA IoU for 3D boxes
2021-09-29 18:49:09 -07:00
test_knn.py
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test_laplacian_matrices.py
lint fixes
2021-07-01 16:08:40 -07:00
test_lighting.py
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2021-06-22 03:45:27 -07:00
test_marching_cubes.py
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test_materials.py
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test_mesh_edge_loss.py
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test_mesh_filtering.py
refactor laplacian matrices
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test_mesh_laplacian_smoothing.py
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test_mesh_normal_consistency.py
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test_mesh_rendering_utils.py
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test_meshes.py
Adding utility methods to TensorProperties
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test_ops_utils.py
Farthest point sampling python naive
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test_packed_to_padded.py
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test_perspective_n_points.py
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test_point_mesh_distance.py
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test_pointclouds.py
subsample pointclouds
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test_points_alignment.py
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test_points_normals.py
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test_points_to_volumes.py
Use C++/CUDA in points2vols
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test_r2n2.py
Deprecate so3_exponential_map
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test_rasterize_meshes.py
deterministic rasterization
2021-09-23 06:59:48 -07:00
test_rasterize_points.py
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test_rasterize_rectangle_images.py
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test_rasterizer.py
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test_raymarching.py
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test_raysampling.py
register_buffer compatibility
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test_render_implicit.py
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test_render_meshes_clipped.py
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test_render_meshes.py
join_scene fix for TexturesUV
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test_render_multigpu.py
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test_render_points.py
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test_render_volumes.py
cpu benchmarks for points to volumes
2021-08-17 05:59:07 -07:00
test_rendering_utils.py
Adding utility methods to TensorProperties
2021-07-13 10:29:26 -07:00
test_rotation_conversions.py
License lint codebase
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test_sample_farthest_points.py
IoU for 3D boxes
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test_sample_pdf.py
Use sample_pdf from PyTorch3D in NeRF
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test_sample_points_from_meshes.py
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test_se3.py
work with old linalg
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test_shader.py
Adding utility methods to TensorProperties
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test_shapenet_core.py
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test_so3.py
make so3_log_map torch script compatible
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test_struct_utils.py
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test_subdivide_meshes.py
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test_symeig3x3.py
Symmetric eigen 3x3 implementation + benchmark & tests
2021-10-06 10:57:07 -07:00
test_texturing.py
License lint codebase
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test_transforms.py
Adding utility methods to TensorProperties
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test_vert_align.py
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test_volumes.py
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weights.pt
Initial commit
2020-01-23 11:53:46 -08:00