Gaussian Projection with the Unscented Transform

src/CMakeLists.txt

@@ -110,6 +110,7 @@ set(FVDB_CU_FILES
     fvdb/detail/ops/gsplat/GaussianMCMCRelocation.cu
     fvdb/detail/ops/gsplat/GaussianProjectionBackward.cu
     fvdb/detail/ops/gsplat/GaussianProjectionForward.cu
+    fvdb/detail/ops/gsplat/GaussianProjectionUT.cu
     fvdb/detail/ops/gsplat/GaussianProjectionJaggedBackward.cu
     fvdb/detail/ops/gsplat/GaussianProjectionJaggedForward.cu
     fvdb/detail/ops/gsplat/GaussianRasterizeBackward.cu

src/fvdb/detail/GridBatchImpl.cu

@@ -1307,7 +1307,7 @@ GridBatchImpl::deserializeV0(const torch::Tensor &serialized) {
     };
 
     TORCH_CHECK(serialized.scalar_type() == torch::kInt8, "Serialized data must be of type int8");
-    TORCH_CHECK(serialized.numel() >= sizeof(V01Header),
+    TORCH_CHECK(serialized.numel() >= static_cast<int64_t>(sizeof(V01Header)),
                 "Serialized data is too small to be a valid grid handle");
 
     const int8_t *serializedPtr = serialized.data_ptr<int8_t>();
@@ -1316,7 +1316,7 @@ GridBatchImpl::deserializeV0(const torch::Tensor &serialized) {
     TORCH_CHECK(header->magic == 0x0F0F0F0F0F0F0F0F,
                 "Serialized data is not a valid grid handle. Bad magic.");
     TORCH_CHECK(header->version == 0, "Serialized data is not a valid grid handle. Bad version.");
-    TORCH_CHECK(serialized.numel() == header->totalBytes,
+    TORCH_CHECK(static_cast<uint64_t>(serialized.numel()) == header->totalBytes,
                 "Serialized data is not a valid grid handle. Bad total bytes.");
 
     const uint64_t numGrids = header->numGrids;
@@ -1752,7 +1752,7 @@ GridBatchImpl::dilate(const int64_t dilationAmount) {
 c10::intrusive_ptr<GridBatchImpl>
 GridBatchImpl::dilate(const std::vector<int64_t> dilationAmount) {
     c10::DeviceGuard guard(device());
-    TORCH_CHECK_VALUE(dilationAmount.size() == batchSize(),
+    TORCH_CHECK_VALUE(static_cast<int64_t>(dilationAmount.size()) == batchSize(),
                       "dilationAmount should have same size as batch size, got ",
                       dilationAmount.size(),
                       " != ",

src/fvdb/detail/ops/gsplat/GaussianProjectionForward.cu

@@ -91,15 +91,7 @@ template <typename T, bool Ortho> struct ProjectionForward {
           mOutDepthsAcc(outDepths.packed_accessor64<T, 2, torch::RestrictPtrTraits>()),
           mOutConicsAcc(outConics.packed_accessor64<T, 3, torch::RestrictPtrTraits>()),
           mOutCompensationsAcc(outCompensations.defined() ? outCompensations.data_ptr<T>()
-                                                          : nullptr) {
-        mMeansAcc     = means.packed_accessor64<T, 2, torch::RestrictPtrTraits>();
-        mQuatsAcc     = quats.packed_accessor64<T, 2, torch::RestrictPtrTraits>();
-        mLogScalesAcc = logScales.packed_accessor64<T, 2, torch::RestrictPtrTraits>();
-        mWorldToCamMatricesAcc =
-            worldToCamMatrices.packed_accessor32<T, 3, torch::RestrictPtrTraits>();
-        mProjectionMatricesAcc =
-            projectionMatrices.packed_accessor32<T, 3, torch::RestrictPtrTraits>();
-    }
+                                                          : nullptr) {}
 
     inline __device__ Mat3
     computeCovarianceMatrix(int64_t gid) const {