Implicitron is a PyTorch3D-based framework for new-view synthesis via modeling the neural-network based representations.

Implicitron is distributed as part of PyTorch3D under the BSD license. It includes code from the NeRF, SRN and IDR repos. See LICENSE-3RD-PARTY for their licenses.

There are three ways to set up Implicitron, depending on the flexibility level required. If you only want to train or evaluate models as they are implemented changing only the parameters, you can just install the package. Implicitron also provides a flexible API that supports user-defined plug-ins; if you want to re-implement some of the components without changing the high-level pipeline, you need to create a custom launcher script. The most flexible option, though, is cloning PyTorch3D repo and building it from sources, which allows changing the code in arbitrary ways. Below, we descibe all three options in more details.

This option allows you to use the code as is without changing the implementations. Only configuration can be changed (see Configuration system).

For this setup, install the dependencies and PyTorch3D from conda following the guide. Then, install implicitron-specific dependencies:

pip install "hydra-core>=1.1" visdom lpips matplotlib accelerate

Runner executable is available as pytorch3d_implicitron_runner shell command. See Running section below for examples of training and evaluation commands.

To plug in custom implementations, for example, of renderer or implicit-function protocols, you need to create your own runner script and import the plug-in implementations there. First, install PyTorch3D and Implicitron dependencies as described in the previous section. Then, implement the custom script; copying pytorch3d/projects/implicitron_trainer is a good place to start. See Custom plugins for more information on how to import implementations and enable them in the configs.

This is the most flexible way to set up Implicitron as it allows changing the code directly. It allows modifying the high-level rendering pipeline or implementing yet-unsupported loss functions. Please follow the instructions to install PyTorch3D from a local clone. Then, install Implicitron-specific dependencies:

pip install "hydra-core>=1.1" visdom lpips matplotlib accelerate

You are still encouraged to implement custom plugins as above where possible as it makes reusing the code easier. The executable is located in pytorch3d/projects/implicitron_trainer.

NOTE: Both pytorch3d_implicitron_runner and pytorch3d_implicitron_visualizer executables (mentioned below) are not available when using local clone. Instead users should use the python scripts experiment.py and visualize_reconstruction.py (see the Running section below).

This section assumes that you use the executable provided by the installed package (Option 1 / Option 2 in #Installation above), i.e. pytorch3d_implicitron_runner and pytorch3d_implicitron_visualizer are available.

NOTE: If the executables are not available (e.g. when using a local clone - Option 3 in #Installation), users should directly use the experiment.py and visualize_reconstruction.py python scripts which correspond to the executables as follows:

• pytorch3d_implicitron_runner corresponds to <pytorch3d_root>/projects/implicitron_trainer/experiment.py
• pytorch3d_implicitron_visualizer corresponds to <pytorch3d_root>/projects/implicitron_trainer/visualize_reconstruction.py

For instance, in order to directly execute training with the python script, users can call:

cd <pytorch3d_root>/projects/
python -m implicitron_trainer.experiment <args>`

If you have a custom experiment.py or visualize_reconstruction.py script (as in the Option 2 above), replace the executable with the path to your script.

To run training, pass a yaml config file, followed by a list of overridden arguments. For example, to train NeRF on the first skateboard sequence from CO3D dataset, you can run:

dataset_args=data_source_ImplicitronDataSource_args.dataset_map_provider_JsonIndexDatasetMapProvider_args
pytorch3d_implicitron_runner --config-path ./configs/ --config-name repro_singleseq_nerf \
    $dataset_args.dataset_root=<DATASET_ROOT> $dataset_args.category='skateboard' \
    $dataset_args.test_restrict_sequence_id=0 test_when_finished=True exp_dir=<CHECKPOINT_DIR>

Here, --config-path points to the config path relative to pytorch3d_implicitron_runner location; --config-name picks the config (in this case, repro_singleseq_nerf.yaml); test_when_finished will launch evaluation script once training is finished. Replace <DATASET_ROOT> with the location where the dataset in Implicitron format is stored and <CHECKPOINT_DIR> with a directory where checkpoints will be dumped during training. Other configuration parameters can be overridden in the same way. See Configuration system section for more information on this.

Note that the training script logs its progress to Visdom. Make sure to start a visdom server before the training commences:

python -m visdom.server

In case a Visdom server is not started, the console will get flooded with requests.exceptions.ConnectionError errors signalling that a Visdom server is not available. Note that these errors will NOT interrupt the program and the training will still continue without issues.

To run evaluation on the latest checkpoint after (or during) training, simply add eval_only=True to your training command.

E.g. for executing the evaluation on the NeRF skateboard sequence, you can run:

dataset_args=data_source_ImplicitronDataSource_args.dataset_map_provider_JsonIndexDatasetMapProvider_args
pytorch3d_implicitron_runner --config-path ./configs/ --config-name repro_singleseq_nerf \
    $dataset_args.dataset_root=<CO3D_DATASET_ROOT> $dataset_args.category='skateboard' \
    $dataset_args.test_restrict_sequence_id=0 exp_dir=<CHECKPOINT_DIR> eval_only=True

Evaluation prints the metrics to stdout and dumps them to a json file in exp_dir.

The script produces a video of renders by a trained model assuming a pre-defined camera trajectory. In order for it to work, ffmpeg needs to be installed:

conda install ffmpeg

Here is an example of calling the script:

pytorch3d_implicitron_visualizer exp_dir=<CHECKPOINT_DIR> \
    visdom_show_preds=True n_eval_cameras=40 render_size="[64,64]" video_size="[256,256]"

The argument n_eval_cameras sets the number of renderring viewpoints sampled on a trajectory, which defaults to a circular fly-around; render_size sets the size of a render passed to the model, which can be resized to video_size before writing.

Rendered videos of images, masks, and depth maps will be saved to <CHECKPOINT_DIR>/video.

We use hydra and OmegaConf to parse the configs. The config schema and default values are defined by the dataclasses implementing the modules. More specifically, if a class derives from Configurable, its fields can be set in config yaml files or overridden in CLI. For example, GenericModel has a field render_image_width with the default value 400. If it is specified in the yaml config file or in CLI command, the new value will be used.

Configurables can form hierarchies. For example, GenericModel has a field raysampler: RaySampler, which is also Configurable. In the config, inner parameters can be propagated using _args postfix, e.g. to change raysampler.n_pts_per_ray_training (the number of sampled points per ray), the node raysampler_args.n_pts_per_ray_training should be specified.

The root of the hierarchy is defined by Experiment Configurable in <pytorch3d_root>/projects/implicitron_trainer/experiment.py.

It has top-level fields like seed, which seeds the random number generator. Additionally, it has non-leaf nodes like model_factory_ImplicitronModelFactory_args.model_GenericModel_args, which dispatches the config parameters to GenericModel. Thus, changing the model parameters may be achieved in two ways: either by editing the config file, e.g.

model_factory_ImplicitronModelFactory_args:
    model_GenericModel_args:
        render_image_width: 800
        raysampler_args:
            n_pts_per_ray_training: 128

or, equivalently, by adding the following to pytorch3d_implicitron_runner arguments:

model_args=model_factory_ImplicitronModelFactory_args.model_GenericModel_args
$model_args.render_image_width=800 $model_args.raysampler_args.n_pts_per_ray_training=128

See the documentation in pytorch3d/implicitron/tools/config.py for more details.

Sometimes changing the model parameters does not provide enough flexibility, and you want to provide a new implementation for a building block. The configuration system also supports it! Abstract classes like BaseRenderer derive from ReplaceableBase instead of Configurable. This means that other Configurables can refer to them using the base type, while the specific implementation is chosen in the config using _class_type-postfixed node. In that case, _args node name has to include the implementation type. More specifically, to change renderer settings, the config will look like this:

model_factory_ImplicitronModelFactory_args:
    model_GenericModel_args:
        renderer_class_type: LSTMRenderer
        renderer_LSTMRenderer_args:
            num_raymarch_steps: 10
            hidden_size: 16

See the documentation in pytorch3d/implicitron/tools/config.py for more details on the configuration system.

If you have an idea for another implementation of a replaceable component, it can be plugged in without changing the core code. For that, you need to set up Implicitron through option 2 or 3 above. Let's say you want to implement a renderer that accumulates opacities similar to an X-ray machine. First, create a module x_ray_renderer.py with a class deriving from BaseRenderer:

from pytorch3d.implicitron.tools.config import registry

@registry.register
class XRayRenderer(BaseRenderer, torch.nn.Module):
    n_pts_per_ray: int = 64

    def __post_init__(self):
        # custom initialization

    def forward(
        self,
        ray_bundle,
        implicit_functions=[],
        evaluation_mode: EvaluationMode = EvaluationMode.EVALUATION,
        **kwargs,
    ) -> RendererOutput:
        ...

Please note @registry.register decorator that registers the plug-in as an implementation of Renderer. IMPORTANT: In order for it to run, the class (or its enclosing module) has to be imported in your launch script. Additionally, this has to be done before parsing the root configuration class ExperimentConfig. Simply add import .x_ray_renderer in the beginning of experiment.py.

After that, you should be able to change the config with:

model_factory_ImplicitronModelFactory_args:
    model_GenericModel_args:
        renderer_class_type: XRayRenderer
        renderer_XRayRenderer_args:
            n_pts_per_ray: 128

to replace the implementation and potentially override the parameters.

The main object for this trainer loop is Experiment. It has four top-level replaceable components.

• data_source: This is a DataSourceBase which defaults to ImplicitronDataSource. It constructs the data sets and dataloaders.
• model_factory: This is a ModelFactoryBase which defaults to ImplicitronModelFactory. It constructs the model, which is usually an instance of OverfitModel (for NeRF-style training with overfitting to one scene) or GenericModel (that is able to generalize to multiple scenes by NeRFormer-style conditioning on other scene views), and can load its weights from a checkpoint.
• optimizer_factory: This is an OptimizerFactoryBase which defaults to ImplicitronOptimizerFactory. It constructs the optimizer and can load its weights from a checkpoint.
• training_loop: This is a TrainingLoopBase which defaults to ImplicitronTrainingLoop and defines the main training loop.

As per above, the config structure is parsed automatically from the module hierarchy. In particular, for ImplicitronModelFactory with generic model, model parameters are contained in the model_factory_ImplicitronModelFactory_args.model_GenericModel_args node, and dataset parameters in data_source_ImplicitronDataSource_args node.

Here is the class structure of GenericModel (single-line edges show aggregation, while double lines show available implementations):

model_GenericModel_args: GenericModel
└-- global_encoder_*_args: GlobalEncoderBase
    ╘== SequenceAutodecoder
        └-- autodecoder_args: Autodecoder
    ╘== HarmonicTimeEncoder
└-- raysampler_*_args: RaySampler
    ╘== AdaptiveRaysampler
    ╘== NearFarRaysampler
└-- renderer_*_args: BaseRenderer
    ╘== MultiPassEmissionAbsorptionRenderer
    ╘== LSTMRenderer
    ╘== SignedDistanceFunctionRenderer
        └-- ray_tracer_args: RayTracing
        └-- ray_normal_coloring_network_args: RayNormalColoringNetwork
└-- implicit_function_*_args: ImplicitFunctionBase
    ╘== NeuralRadianceFieldImplicitFunction
    ╘== SRNImplicitFunction
        └-- raymarch_function_args: SRNRaymarchFunction
        └-- pixel_generator_args: SRNPixelGenerator
    ╘== SRNHyperNetImplicitFunction
        └-- hypernet_args: SRNRaymarchHyperNet
        └-- pixel_generator_args: SRNPixelGenerator
    ╘== IdrFeatureField
└-- image_feature_extractor_*_args: FeatureExtractorBase
    ╘== ResNetFeatureExtractor
└-- view_pooler_args: ViewPooler
    └-- view_sampler_args: ViewSampler
    └-- feature_aggregator_*_args: FeatureAggregatorBase
        ╘== IdentityFeatureAggregator
        ╘== AngleWeightedIdentityFeatureAggregator
        ╘== AngleWeightedReductionFeatureAggregator
        ╘== ReductionFeatureAggregator

Here is the class structure of OverfitModel:

model_OverfitModel_args: OverfitModel
└-- raysampler_*_args: RaySampler
    ╘== AdaptiveRaysampler
    ╘== NearFarRaysampler
└-- renderer_*_args: BaseRenderer
    ╘== MultiPassEmissionAbsorptionRenderer
    ╘== LSTMRenderer
    ╘== SignedDistanceFunctionRenderer
        └-- ray_tracer_args: RayTracing
        └-- ray_normal_coloring_network_args: RayNormalColoringNetwork
└-- implicit_function_*_args: ImplicitFunctionBase
    ╘== NeuralRadianceFieldImplicitFunction
    ╘== SRNImplicitFunction
        └-- raymarch_function_args: SRNRaymarchFunction
        └-- pixel_generator_args: SRNPixelGenerator
    ╘== SRNHyperNetImplicitFunction
        └-- hypernet_args: SRNRaymarchHyperNet
        └-- pixel_generator_args: SRNPixelGenerator
    ╘== IdrFeatureField
└-- coarse_implicit_function_*_args: ImplicitFunctionBase
    ╘== NeuralRadianceFieldImplicitFunction
    ╘== SRNImplicitFunction
        └-- raymarch_function_args: SRNRaymarchFunction
        └-- pixel_generator_args: SRNPixelGenerator
    ╘== SRNHyperNetImplicitFunction
        └-- hypernet_args: SRNRaymarchHyperNet
        └-- pixel_generator_args: SRNPixelGenerator
    ╘== IdrFeatureField

OverfitModel has been introduced to create a simple class to disantagle Nerfs which the overfit pattern from the GenericModel.

Please look at the annotations of the respective classes or functions for the lists of hyperparameters. tests/experiment.yaml shows every possible option if you have no user-defined classes.

We provide configuration files that implement several existing works.

The configuration files live in pytorch3d/projects/implicitron_trainer/configs.

The following config file corresponds to training of a vanilla NeRF on Blender Synthetic dataset (see https://arxiv.org/abs/2003.08934 for details of the method):

./configs/repro_singleseq_nerf_blender.yaml

Training requires the Blender Synthetic dataset. To download the dataset, visit the gdrive bucket and click Download. Then unpack the downloaded .zip file to a folder which we call <BLENDER_DATASET_ROOT_FOLDER>.

In order to train NeRF on the "drums" scene, execute the following command:

export BLENDER_DATASET_ROOT="<BLENDER_DATASET_ROOT_FOLDER>" \
export BLENDER_SINGLESEQ_CLASS="drums" \
pytorch3d_implicitron_runner --config-path ./configs/ --config-name repro_singleseq_nerf_blender

Note that the training scene is selected by setting the environment variable BLENDER_SINGLESEQ_CLASS appropriately (one of "chair", "drums", "ficus", "hotdog", "lego", "materials", "mic", "ship").

By default, the training outputs will be stored to "./data/nerf_blender_repro/$BLENDER_SINGLESEQ_CLASS/"

pytorch3d_implicitron_visualizer exp_dir=<CHECKPOINT_DIR> \
    visdom_show_preds=True n_eval_cameras=40 render_size="[64,64]" video_size="[256,256]"

where <CHECKPOINT_DIR> corresponds to the directory with the training outputs (defaults to "./data/nerf_blender_repro/$BLENDER_SINGLESEQ_CLASS/").

The script will output a rendered video of the learned radiance field to "./data/nerf_blender_repro/$BLENDER_SINGLESEQ_CLASS/" (requires ffmpeg).

NOTE: Recall that, if pytorch3d_implicitron_runner/pytorch3d_implicitron_visualizer are not available, replace the calls with cd <pytorch3d_root>/projects/; python -m implicitron_trainer.[experiment|visualize_reconstruction]

Common Objects in 3D (CO3D) is a large-scale dataset of videos of rigid objects grouped into 50 common categories. Implicitron provides implementations and config files to reproduce the results from the paper. Please follow the link for the instructions to download the dataset. In training and evaluation scripts, use the download location as <DATASET_ROOT>. It is also possible to define environment variable CO3D_DATASET_ROOT instead of specifying it. To reproduce the experiments from the paper, use the following configs.

For single-sequence experiments:

For multi-sequence autodecoder experiments (without generalization to new sequences):

For multi-sequence experiments (with generalization to new sequences):

The following config files implement training on the second version of CO3D, CO3Dv2.

In order to launch trainings, set the CO3DV2_DATASET_ROOT environment variable to the root folder of the dataset (note that the name of the env. variable differs from the CO3Dv1 version).

Single-sequence experiments:

Multi-sequence autodecoder experiments (without generalization to new sequences):

Multi-sequence experiments (with generalization to new sequences):