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# Introduction

PyTorch3D provides efficient, reusable components for 3D Computer Vision research with [PyTorch](https://pytorch.org).

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](https://arxiv.org/abs/1906.02739).

## Installation

For detailed instructions refer to [INSTALL.md](INSTALL.md).

## License

PyTorch3D is released under the [BSD-3-Clause License](LICENSE).

## Tutorials

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

|<img src="https://raw.githubusercontent.com/facebookresearch/pytorch3d/master/.github/dolphin_deform.gif" width="310"/>|<img src="https://raw.githubusercontent.com/facebookresearch/pytorch3d/master/.github/bundle_adjust.gif" width="310"/>|
|:-----------------------------------------------------------------------------------------------------------:|:--------------------------------------------------:|
| [Deform a sphere mesh to dolphin](https://github.com/facebookresearch/pytorch3d/blob/master/docs/tutorials/deform_source_mesh_to_target_mesh.ipynb)| [Bundle adjustment](https://github.com/facebookresearch/pytorch3d/blob/master/docs/tutorials/bundle_adjustment.ipynb) |

| <img src="https://raw.githubusercontent.com/facebookresearch/pytorch3d/master/.github/render_textured_mesh.gif" width="310"/> | <img src="https://raw.githubusercontent.com/facebookresearch/pytorch3d/master/.github/camera_position_teapot.gif" width="310" height="310"/>
|:------------------------------------------------------------:|:--------------------------------------------------:|
| [Render textured meshes](https://github.com/facebookresearch/pytorch3d/blob/master/docs/tutorials/render_textured_meshes.ipynb)| [Camera position optimization](https://github.com/facebookresearch/pytorch3d/blob/master/docs/tutorials/camera_position_optimization_with_differentiable_rendering.ipynb)|

## Documentation

Learn more about the API by reading the PyTorch3D [documentation](https://pytorch3d.readthedocs.org/).

We also have deep dive notes on several API components:

- [Heterogeneous Batching](https://github.com/facebookresearch/pytorch3d/tree/master/docs/notes/batching.md)
- [Mesh IO](https://github.com/facebookresearch/pytorch3d/tree/master/docs/notes/meshes_io.md)
- [Differentiable Rendering](https://github.com/facebookresearch/pytorch3d/tree/master/docs/notes/renderer_getting_started.md)

## Development

We welcome new contributions to Pytorch3d and we will be actively maintaining this library! Please refer to [CONTRIBUTING.md](./.github/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:

```bibtex
@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}
}
```
