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Summary: Avoid test files explicitly importing TestCase objects from each other, because doing so causes the tests to be discovered twice by unittest discover. This means moving a few static functions out of their classes. I noticed this while trying to fix failures from yesterday.

Reviewed By: nikhilaravi

Differential Revision: D28194679

fbshipit-source-id: ac6e6585603bd4ef9c098cdd56891d94f8923ba6

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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.


For detailed instructions refer to


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


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
Render textured pointclouds Fit a mesh with texture
Render DensePose data Load & Render ShapeNet data
Fit Textured Volume Fit A Simple Neural Radiance Field


Learn more about the API by reading the PyTorch3D documentation.

We also have deep dive notes on several API components:

Overview Video

We have created a short (~14 min) video tutorial providing an overview of the PyTorch3D codebase including several code examples. Click on the image below to watch the video on YouTube:


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


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

In alphabetical order:

  • Amitav Baruah
  • Steve Branson
  • Luya Gao
  • Georgia Gkioxari
  • Taylor Gordon
  • Justin Johnson
  • Patrick Labtut
  • Christoph Lassner
  • Wan-Yen Lo
  • David Novotny
  • Nikhila Ravi
  • Jeremy Reizenstein
  • Dave Schnizlein
  • Roman Shapovalov
  • Olivia Wiles


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

    author = {Nikhila Ravi and Jeremy Reizenstein and David Novotny and Taylor Gordon
                  and Wan-Yen Lo and Justin Johnson and Georgia Gkioxari},
    title = {Accelerating 3D Deep Learning with PyTorch3D},
    journal = {arXiv:2007.08501},
    year = {2020},

If you are using the pulsar backend for sphere-rendering (the PulsarPointRenderer or pytorch3d.renderer.points.pulsar.Renderer), please cite the tech report:

    author = {Christoph Lassner and Michael Zollh\"ofer},
    title = {Pulsar: Efficient Sphere-based Neural Rendering},
    journal = {arXiv:2004.07484},
    year = {2020},


Please see below for a timeline of the codebase updates in reverse chronological order. We are sharing updates on the releases as well as research projects which are built with PyTorch3D. The changelogs for the releases are available under Releases, and the builds can be installed using conda as per the instructions in

[Feb 9th 2021]: PyTorch3D v0.4.0 released with support for implicit functions, volume rendering and a reimplementation of NeRF.

[November 2nd 2020]: PyTorch3D v0.3.0 released, integrating the pulsar backend.

[Aug 28th 2020]: PyTorch3D v0.2.5 released

[July 17th 2020]: PyTorch3D tech report published on ArXiv:

[April 24th 2020]: PyTorch3D v0.2.0 released

[March 25th 2020]: SynSin codebase released using PyTorch3D:

[March 8th 2020]: PyTorch3D v0.1.1 bug fix release

[Jan 23rd 2020]: PyTorch3D v0.1.0 released. Mesh R-CNN codebase released: