updated build instructions

README.md

@@ -23,38 +23,47 @@ Zachary Teed and Jia Deng, CVPR 2021
 ## Installation
 
 
-### Requirements: 
- * Cuda >= 10.1 (with nvcc compiler)
- * PyTorch >= 1.8
+### Installing (from source):
 
-We recommend installing within a virtual enviornment. Make sure you clone using the `--recursive` flag. If you are using Anaconda, the following command can be used to install all dependencies
-```
+Requires torch >= 2 and CUDA >= 11. Tested up to torch==2.7 and CUDA 12. Make sure PyTorch and CUDA major versions match. 
+
+```bash
 git clone --recursive https://github.com/princeton-vl/lietorch.git
 cd lietorch
 
-conda create -n lie_env
-conda activate lie_env
-conda install scipy pyyaml pytorch torchvision torchaudio cudatoolkit=10.2 -c pytorch
-```
+python3 -m venv .venv
+source .venv/bin/activate
 
-To run the examples, you will need OpenCV and Open3D. Depending on your operating system, OpenCV and Open3D can either be installed with pip or may need to be built from source
-```
-pip install opencv-python open3d
+# install requirements
+pip install torch torchvision torchaudio wheel
+
+# optional: specify GPU architectures
+# https://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/
+export TORCH_CUDA_ARCH_LIST="7.5;8.6;8.9;9.0"
+
+# install lietorch
+pip install -e .
 ```
 
-### Installing (from source)
+### Installing (with pip)
+```bash
+# optional: specify GPU architectures
+export TORCH_CUDA_ARCH_LIST="7.5;8.6;8.9;9.0"
 
-Clone the repo using the `--recursive` flag and install using `setup.py` (may take up to 10 minutes)
+pip install git+https://github.com/princeton-vl/lietorch.git
 ```
-git clone --recursive https://github.com/princeton-vl/lietorch.git
-python setup.py install
-./run_tests.sh
+
+
+To run the examples, you will need these additional libraries
+```bash
+pip install opencv-python open3d scipy pyyaml
 ```
 
-### Installing (pip)
-You can install the library directly using pip
+### Running Tests
+
+After building, you can run the tests
 ```bash
-pip install git+https://github.com/princeton-vl/lietorch.git
+./run_tests.sh
 ```
 
 
@@ -77,7 +86,7 @@ Each group supports the following differentiable operations:
 | exp    | g -> G | exponential map |
 | log    | G -> g | logarithm map |
 | inv    | G -> G | group inverse |
-| mul   | G x G -> G | group multiplication |
+| mul    | G x G -> G | group multiplication |
 | adj    | G x g -> g | adjoint |
 | adjT   | G x g*-> g* | dual adjoint |
 | act    | G x R^3 -> R^3 | action on point (set) |

lietorch/groups.py

@@ -2,7 +2,7 @@ import torch
 import numpy as np
 
 # group operations implemented in cuda
-from .group_ops import Exp, Log, Inv, Mul, Adj, AdjT, Jinv, Act3, Act4, ToMatrix, ToVec, FromVec
+from .group_ops import Exp, Log, Inv, Mul, Adj, AdjT, Jinv, Act3, Act4, ToVec, FromVec
 from .broadcasting import broadcast_inputs
 
 
@@ -179,9 +179,9 @@ class LieGroup:
 
     def matrix(self):
         """ convert element to 4x4 matrix """
-        I = torch.eye(4, dtype=self.dtype, device=self.device)
-        I = I.view([1] * (len(self.data.shape) - 1) + [4, 4])
-        return self.__class__(self.data[...,None,:]).act(I).transpose(-1,-2)
+        Id = torch.eye(4, dtype=self.dtype, device=self.device)
+        Id = Id.view([1] * (len(self.data.shape) - 1) + [4, 4])
+        return self.__class__(self.data[...,None,:]).act(Id).transpose(-1,-2)
 
     def translation(self):
         """ extract translation component """
@@ -220,12 +220,12 @@ class LieGroup:
     def cuda(self):
         return self.__class__(self.data.cuda())
 
-    def float(self, device):
+    def float(self):
         return self.__class__(self.data.float())
 
-    def double(self, device):
+    def double(self):
         return self.__class__(self.data.double())
-
+    
     def unbind(self, dim=0):
         return [self.__class__(x) for x in self.data.unbind(dim=dim)]
         

setup.py

 from setuptools import setup
+import os
 from torch.utils.cpp_extension import BuildExtension, CUDAExtension
 
-import os.path as osp
-
-
-ROOT = osp.dirname(osp.abspath(__file__))
+ROOT = os.path.dirname(os.path.abspath(__file__))
 
 setup(
-    name='lietorch',
-    version='0.2',
-    description='Lie Groups for PyTorch',
-    author='teedrz',
-    packages=['lietorch'],
+    name="lietorch",
+    version="0.3",
+    description="Lie Groups for PyTorch",
+    author="Zachary Teed",
+    packages=["lietorch"],
     ext_modules=[
-        CUDAExtension('lietorch_backends', 
+        CUDAExtension("lietorch_backends", 
             include_dirs=[
-                osp.join(ROOT, 'lietorch/include'), 
-                osp.join(ROOT, 'eigen')],
+                os.path.join(ROOT, "lietorch/include"), 
+                os.path.join(ROOT, "eigen")],
             sources=[
-                'lietorch/src/lietorch.cpp', 
-                'lietorch/src/lietorch_gpu.cu',
-                'lietorch/src/lietorch_cpu.cpp'],
+                "lietorch/src/lietorch.cpp", 
+                "lietorch/src/lietorch_gpu.cu",
+                "lietorch/src/lietorch_cpu.cpp"],
             extra_compile_args={
-                'cxx': ['-O2'], 
-                'nvcc': ['-O2',
-                    '-gencode=arch=compute_60,code=sm_60', 
-                    '-gencode=arch=compute_61,code=sm_61', 
-                    '-gencode=arch=compute_70,code=sm_70', 
-                    '-gencode=arch=compute_75,code=sm_75',
-                    '-gencode=arch=compute_75,code=compute_75',
-                    
-                ]
+                "cxx": ["-O2"], 
+                "nvcc": ["-O2"],
             }),
 
-        CUDAExtension('lietorch_extras', 
+        CUDAExtension("lietorch_extras", 
             sources=[
-                'lietorch/extras/altcorr_kernel.cu',
-                'lietorch/extras/corr_index_kernel.cu',
-                'lietorch/extras/se3_builder.cu',
-                'lietorch/extras/se3_inplace_builder.cu',
-                'lietorch/extras/se3_solver.cu',
-                'lietorch/extras/extras.cpp',
+                "lietorch/extras/altcorr_kernel.cu",
+                "lietorch/extras/corr_index_kernel.cu",
+                "lietorch/extras/se3_builder.cu",
+                "lietorch/extras/se3_inplace_builder.cu",
+                "lietorch/extras/se3_solver.cu",
+                "lietorch/extras/extras.cpp",
             ],
             extra_compile_args={
-                'cxx': ['-O2'], 
-                'nvcc': ['-O2',
-                    '-gencode=arch=compute_60,code=sm_60', 
-                    '-gencode=arch=compute_61,code=sm_61', 
-                    '-gencode=arch=compute_70,code=sm_70', 
-                    '-gencode=arch=compute_75,code=sm_75',
-                    '-gencode=arch=compute_75,code=compute_75',
-                    
-                ]
+                "cxx": ["-O2"], 
+                "nvcc": ["-O2"],
             }),
     ],
-    cmdclass={ 'build_ext': BuildExtension }
+    cmdclass={ "build_ext": BuildExtension }
 )
-
-