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eps fix for iou3d

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Summary: Fix EPS issue that causes numerical instabilities when boxes are very close

Reviewed By: kjchalup

Differential Revision: D38661465

fbshipit-source-id: d2b6753cba9dc2f0072ace5289c9aa815a1a29f6
This commit is contained in:
Georgia Gkioxari
2022-08-22 04:26:19 -07:00
committed by Facebook GitHub Bot
parent 06cbba2628
commit 1bfe6bf20a
5 changed files with 923 additions and 188 deletions
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4
pytorch3d/csrc/iou_box3d/iou_box3d.cu
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@@ -88,9 +88,9 @@ __global__ void IoUBox3DKernel(
for (int b1 = 0; b1 < box1_count; ++b1) {
for (int b2 = 0; b2 < box2_count; ++b2) {
const bool is_coplanar =
IsCoplanarFace(box1_intersect[b1], box2_intersect[b2]);
IsCoplanarTriTri(box1_intersect[b1], box2_intersect[b2]);
const float area = FaceArea(box1_intersect[b1]);
if ((is_coplanar) && (area > kEpsilon)) {
if ((is_coplanar) && (area > aEpsilon)) {
tri2_keep[b2].keep = false;
}
}