David Novotny e5b1d6d3a3 Umeyama
Summary:
Umeyama estimates a rigid motion between two sets of corresponding points.

Benchmark output for `bm_points_alignment`

```
Arguments key: [<allow_reflection>_<batch_size>_<dim>_<estimate_scale>_<n_points>_<use_pointclouds>]
Benchmark                                                        Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
CorrespodingPointsAlignment_True_1_3_True_100_False                   7382            9833             68
CorrespodingPointsAlignment_True_1_3_True_10000_False                 8183           10500             62
CorrespodingPointsAlignment_True_1_3_False_100_False                  7301            9263             69
CorrespodingPointsAlignment_True_1_3_False_10000_False                7945            9746             64
CorrespodingPointsAlignment_True_1_20_True_100_False                 13706           41623             37
CorrespodingPointsAlignment_True_1_20_True_10000_False               11044           33766             46
CorrespodingPointsAlignment_True_1_20_False_100_False                 9908           28791             51
CorrespodingPointsAlignment_True_1_20_False_10000_False               9523           18680             53
CorrespodingPointsAlignment_True_10_3_True_100_False                 29585           32026             17
CorrespodingPointsAlignment_True_10_3_True_10000_False               29626           36324             18
CorrespodingPointsAlignment_True_10_3_False_100_False                26013           29253             20
CorrespodingPointsAlignment_True_10_3_False_10000_False              25000           33820             20
CorrespodingPointsAlignment_True_10_20_True_100_False                40955           41592             13
CorrespodingPointsAlignment_True_10_20_True_10000_False              42087           42393             12
CorrespodingPointsAlignment_True_10_20_False_100_False               39863           40381             13
CorrespodingPointsAlignment_True_10_20_False_10000_False             40813           41699             13
CorrespodingPointsAlignment_True_100_3_True_100_False               183146          194745              3
CorrespodingPointsAlignment_True_100_3_True_10000_False             213789          231466              3
CorrespodingPointsAlignment_True_100_3_False_100_False              177805          180796              3
CorrespodingPointsAlignment_True_100_3_False_10000_False            184963          185695              3
CorrespodingPointsAlignment_True_100_20_True_100_False              347181          347325              2
CorrespodingPointsAlignment_True_100_20_True_10000_False            363259          363613              2
CorrespodingPointsAlignment_True_100_20_False_100_False             351769          352496              2
CorrespodingPointsAlignment_True_100_20_False_10000_False           375629          379818              2
CorrespodingPointsAlignment_False_1_3_True_100_False                 11155           13770             45
CorrespodingPointsAlignment_False_1_3_True_10000_False               10743           13938             47
CorrespodingPointsAlignment_False_1_3_False_100_False                 9578           11511             53
CorrespodingPointsAlignment_False_1_3_False_10000_False               9549           11984             53
CorrespodingPointsAlignment_False_1_20_True_100_False                13809           14183             37
CorrespodingPointsAlignment_False_1_20_True_10000_False              14084           15082             36
CorrespodingPointsAlignment_False_1_20_False_100_False               12765           14177             40
CorrespodingPointsAlignment_False_1_20_False_10000_False             12811           13096             40
CorrespodingPointsAlignment_False_10_3_True_100_False                28823           39384             18
CorrespodingPointsAlignment_False_10_3_True_10000_False              27135           27525             19
CorrespodingPointsAlignment_False_10_3_False_100_False               26236           28980             20
CorrespodingPointsAlignment_False_10_3_False_10000_False             42324           45123             12
CorrespodingPointsAlignment_False_10_20_True_100_False              723902          723902              1
CorrespodingPointsAlignment_False_10_20_True_10000_False            220007          252886              3
CorrespodingPointsAlignment_False_10_20_False_100_False              55593           71636              9
CorrespodingPointsAlignment_False_10_20_False_10000_False            44419           71861             12
CorrespodingPointsAlignment_False_100_3_True_100_False              184768          185199              3
CorrespodingPointsAlignment_False_100_3_True_10000_False            198657          213868              3
CorrespodingPointsAlignment_False_100_3_False_100_False             224598          309645              3
CorrespodingPointsAlignment_False_100_3_False_10000_False           197863          202002              3
CorrespodingPointsAlignment_False_100_20_True_100_False             293484          309459              2
CorrespodingPointsAlignment_False_100_20_True_10000_False           327253          366644              2
CorrespodingPointsAlignment_False_100_20_False_100_False            420793          422194              2
CorrespodingPointsAlignment_False_100_20_False_10000_False          462634          485542              2
CorrespodingPointsAlignment_True_1_3_True_100_True                    7664            9909             66
CorrespodingPointsAlignment_True_1_3_True_10000_True                  7190            8366             70
CorrespodingPointsAlignment_True_1_3_False_100_True                   6549            8316             77
CorrespodingPointsAlignment_True_1_3_False_10000_True                 6534            7710             77
CorrespodingPointsAlignment_True_10_3_True_100_True                  29052           32940             18
CorrespodingPointsAlignment_True_10_3_True_10000_True                30526           33453             17
CorrespodingPointsAlignment_True_10_3_False_100_True                 28708           32993             18
CorrespodingPointsAlignment_True_10_3_False_10000_True               30630           35973             17
CorrespodingPointsAlignment_True_100_3_True_100_True                264909          320820              3
CorrespodingPointsAlignment_True_100_3_True_10000_True              310902          322604              2
CorrespodingPointsAlignment_True_100_3_False_100_True               246832          250634              3
CorrespodingPointsAlignment_True_100_3_False_10000_True             276006          289061              2
CorrespodingPointsAlignment_False_1_3_True_100_True                  11421           13757             44
CorrespodingPointsAlignment_False_1_3_True_10000_True                11199           12532             45
CorrespodingPointsAlignment_False_1_3_False_100_True                 11474           15841             44
CorrespodingPointsAlignment_False_1_3_False_10000_True               10384           13188             49
CorrespodingPointsAlignment_False_10_3_True_100_True                 36599           47340             14
CorrespodingPointsAlignment_False_10_3_True_10000_True               40702           50754             13
CorrespodingPointsAlignment_False_10_3_False_100_True                41277           52149             13
CorrespodingPointsAlignment_False_10_3_False_10000_True              34286           37091             15
CorrespodingPointsAlignment_False_100_3_True_100_True               254991          258578              2
CorrespodingPointsAlignment_False_100_3_True_10000_True             257999          261285              2
CorrespodingPointsAlignment_False_100_3_False_100_True              247511          248693              3
CorrespodingPointsAlignment_False_100_3_False_10000_True            251807          263865              3
```

Reviewed By: gkioxari

Differential Revision: D19808389

fbshipit-source-id: 83305a58627d2fc5dcaf3c3015132d8148f28c29
2020-04-02 14:46:51 -07:00
2020-03-30 06:17:27 -07:00
2020-03-16 11:43:37 -07:00
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Introduction

PyTorch3D provides efficient, reusable components for 3D Computer Vision research with PyTorch.

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

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

  • Are implemented using PyTorch tensors
  • Can handle minibatches of hetereogenous data
  • Can be differentiated
  • Can utilize GPUs for acceleration

Within FAIR, PyTorch3D has been used to power research projects such as Mesh R-CNN.

Installation

For detailed instructions refer to INSTALL.md.

License

PyTorch3D is released under the BSD-3-Clause License.

Tutorials

Get started with PyTorch3D by trying one of the tutorial notebooks.

Deform a sphere mesh to dolphin Bundle adjustment
Render textured meshes Camera position optimization

Documentation

Learn more about the API by reading the PyTorch3D documentation.

We also have deep dive notes on several API components:

Development

We welcome new contributions to PyTorch3D and we will be actively maintaining this library! Please refer to CONTRIBUTING.md for full instructions on how to run the code, tests and linter, and submit your pull requests.

Contributors

PyTorch3D is written and maintained by the Facebook AI Research Computer Vision Team.

Citation

If you find PyTorch3D useful in your research, please cite:

@misc{ravi2020pytorch3d,
  author =       {Nikhila Ravi and Jeremy Reizenstein and David Novotny and Taylor Gordon
                  and Wan-Yen Lo and Justin Johnson and Georgia Gkioxari},
  title =        {PyTorch3D},
  howpublished = {\url{https://github.com/facebookresearch/pytorch3d}},
  year =         {2020}
}
Description
PyTorch3D is FAIR's library of reusable components for deep learning with 3D data
Readme BSD-3-Clause 73 MiB
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