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Summary:
Support variable size pointclouds in the renderer API to allow compatibility with Pulsar rasterizer.

If radius is provided as a float, it is converted to a tensor of shape (P). Otherwise radius is expected to be an (N, P_padded) dimensional tensor where P_padded is the max number of points in the batch (following the convention from pulsar: https://our.intern.facebook.com/intern/diffusion/FBS/browse/master/fbcode/frl/gemini/pulsar/pulsar/renderer.py?commit=ee0342850210e5df441e14fd97162675c70d147c&lines=50)

Reviewed By: jcjohnson, gkioxari

Differential Revision: D21429400

fbshipit-source-id: 65de7d9cd2472b27fc29f96160c33687e88098a2

Summary:
Fixes the default setting of `max_points_per_bin` in `rasterize_points.py`. For large batches with large size pointclouds this was a causing the rasterizer to be very slow.

Expanded the pointcloud rendering benchmarks to include larger size pointclouds and fixed cuda synchronization issue in benchmark.

Reviewed By: gkioxari

Differential Revision: D22301185

fbshipit-source-id: 5077c1ba2c43d73efc1c659f0ec75959ceddf893

Summary: Address black + isort fbsource linter warnings from D20558374 (previous diff)

Reviewed By: nikhilaravi

Differential Revision: D20558373

fbshipit-source-id: d3607de4a01fb24c0d5269634563a7914bddf1c8