E-RayZer implementation

[themattinthehatt]

Adds ERayZer, a multi-view 3D model that reconstructs scenes via Gaussian splatting from posed camera views. This is the core model behind BEAST3D.

New model: ERayZer

• Full implementation of the ERayZer model (beast/models/erayzer/) including camera prediction, Gaussian splatting renderer, and novel view synthesis
• Gaussian splatting renderer wrapping a custom gsplat fork with intrinsics gradient support
• Perceptual losses (DINO, VGG) and rendering losses (L2, regularization)

Multi-view data pipeline

• MultiViewDataset and MultiViewDataModule for loading multi-view scenes with images, camera poses, and intrinsics
• MultiViewExampleDict typed batch dict

Geometry and rendering utilities

• beast/geometry/ — camera transforms, intrinsic normalization, SE(3) helpers, rotation representations, 2D sinusoidal positional encoding
• beast/rendering/ — gsplat-based Gaussian splatting renderer
• beast/nn/ — transformer blocks, DINO feature extractor, perceptual loss modules

Architecture refactor

• Introduced model registry (MODEL_REGISTRY, TRAIN_REGISTRY, CONFIG_REGISTRY) for clean model dispatch
• Moved existing models into per-model packages: beast/models/beast_resnet/, beast/models/beast_vit/
• Per-model Pydantic config classes with discriminated unions
• Removed xformers and lpips dependencies

Docs and install

• Developer guide (docs/developer_guide.md) with step-by-step checklist for adding new models
• BEAST3D user documentation (docs/beast3d.md)
• Updated install instructions for gsplat build-from-source requirement (--no-build-isolation)

Tests

• Comprehensive tests for ERayZer model, geometry utilities, rendering, transformer blocks, perceptual losses, and config validation
• Integration test for ERayZer training loop

New dependencies

• gsplat (custom fork — compiled from source)
• einops, matplotlib, plyfile, typing_extensions

[codecov]

Codecov Report

❌ Patch coverage is 82.67059% with 353 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.03%. Comparing base (f7570a6) to head (fa618cf).

Files with missing lines	Patch %	Lines
beast/rendering/gaussians_renderer.py	40.15%	231 Missing ⚠️
beast/models/erayzer/erayzer_model.py	88.16%	80 Missing ⚠️
beast/models/erayzer/visualize.py	88.60%	18 Missing ⚠️
beast/geometry/camera.py	92.53%	15 Missing ⚠️
beast/nn/transformer.py	92.20%	6 Missing ⚠️
beast/data/datasets.py	96.59%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #55      +/-   ##
==========================================
- Coverage   88.22%   86.03%   -2.20%     
==========================================
  Files          32       51      +19     
  Lines        2972     4890    +1918     
==========================================
+ Hits         2622     4207    +1585     
- Misses        350      683     +333     

Files with missing lines	Coverage Δ
beast/api/model.py	97.43% <100.00%> (ø)
beast/config.py	100.00% <100.00%> (ø)
beast/data/datamodules.py	96.73% <100.00%> (+1.07%)	⬆️
beast/data/types.py	100.00% <100.00%> (ø)
beast/geometry/positional_encoding.py	100.00% <100.00%> (ø)
beast/geometry/rotations.py	100.00% <100.00%> (ø)
beast/io.py	100.00% <100.00%> (ø)
beast/losses.py	100.00% <100.00%> (ø)
beast/models/beast_resnet/__init__.py	100.00% <100.00%> (ø)
beast/models/beast_resnet/beast_resnet_config.py	100.00% <100.00%> (ø)
... and 19 more

... and 1 file with indirect coverage changes

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