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This Facebook AI Research's PyTorch 3D graphics library.

The main features are differentiable mesh and point cloud renderers written in CUDA.


See I've only been able to get it to work on Linux.

  1. Make sure you have CUDA, CUDNN, PyTorch installed
  2. pip install 'git+'
  • The pip version does not include CUDA support. Install it from the git repo.
  • You need to recompile and reinstall PyTorch3D every time you upgrade PyTorch.


Point Cloud Renderer

See render_colored_points.ipynb. You can run this tutorial in Colab using this link or the Open in Colab' extension.

To implement custom cameras (e.g. Fisheye, 360), you can write your own custom PointsRasterizer. See /pytorch3d/renderer/points/ for the default PointsRasterizer.

Specifically, you can change the transform function to a custom function which calculates screen coordinates from world coordinates.