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Update eps for coplanar check in 3D IoU

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Summary: Make eps=1e-4 by default for coplanar check and also enable it to be set by the user in call to `box3d_overlap`.

Reviewed By: gkioxari

Differential Revision: D31596836

fbshipit-source-id: b57fe603fd136cfa58fddf836922706d44fe894e
This commit is contained in:
Nikhila Ravi 2021-10-13 13:28:31 -07:00 committed by Facebook GitHub Bot
parent 53d99671bd
commit 2f2466f472
1 changed files with 4 additions and 4 deletions
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8
pytorch3d/ops/iou_box3d.py
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@ -45,7 +45,7 @@ _box_triangles = [
]
def _check_coplanar(boxes: torch.Tensor, eps: float = 1e-5) -> None:
def _check_coplanar(boxes: torch.Tensor, eps: float = 1e-4) -> None:
faces = torch.tensor(_box_planes, dtype=torch.int64, device=boxes.device)
# pyre-fixme[16]: `boxes` has no attribute `index_select`.
verts = boxes.index_select(index=faces.view(-1), dim=1)
@ -89,7 +89,7 @@ class _box3d_overlap(Function):
def box3d_overlap(
boxes1: torch.Tensor, boxes2: torch.Tensor
boxes1: torch.Tensor, boxes2: torch.Tensor, eps: float = 1e-4
) -> Tuple[torch.Tensor, torch.Tensor]:
"""
Computes the intersection of 3D boxes1 and boxes2.
@ -136,8 +136,8 @@ def box3d_overlap(
if not all((8, 3) == box.shape[1:] for box in [boxes1, boxes2]):
raise ValueError("Each box in the batch must be of shape (8, 3)")
_check_coplanar(boxes1)
_check_coplanar(boxes2)
_check_coplanar(boxes1, eps)
_check_coplanar(boxes2, eps)
# pyre-fixme[16]: `_box3d_overlap` has no attribute `apply`.
vol, iou = _box3d_overlap.apply(boxes1, boxes2)