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IOU box3d epsilon fix
Summary: The epsilon value is important for determining whether vertices are inside/outside a plane. Reviewed By: gkioxari Differential Revision: D31485247 fbshipit-source-id: 5517575de7c02f1afa277d00e0190a81f44f5761
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@ -11,7 +11,8 @@
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#include <thrust/device_vector.h>
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#include <cstdio>
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#include "utils/float_math.cuh"
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#include "utils/geometry_utils.cuh"
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const auto kEpsilon = 1e-4;
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/*
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_PLANES and _TRIS define the 4- and 3-connectivity
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@ -16,9 +16,9 @@
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#include <queue>
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#include <tuple>
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#include <type_traits>
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#include "utils/geometry_utils.h"
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#include "utils/vec3.h"
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const auto kEpsilon = 1e-4;
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/*
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_PLANES and _TRIS define the 4- and 3-connectivity
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of the 8 box corners.
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BIN
tests/data/real_boxes.pkl
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BIN
tests/data/real_boxes.pkl
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@ -4,6 +4,7 @@
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# This source code is licensed under the BSD-style license found in the
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# LICENSE file in the root directory of this source tree.
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import pickle
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import random
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import unittest
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from typing import List, Tuple, Union
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@ -15,7 +16,6 @@ from pytorch3d.io import save_obj
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from pytorch3d.ops.iou_box3d import _box_planes, _box_triangles, box3d_overlap
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from pytorch3d.transforms.rotation_conversions import random_rotation
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OBJECTRON_TO_PYTORCH3D_FACE_IDX = [0, 4, 6, 2, 1, 5, 7, 3]
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DATA_DIR = get_tests_dir() / "data"
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DEBUG = False
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@ -167,6 +167,7 @@ class TestIoU3D(TestCaseMixin, unittest.TestCase):
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device=vol.device,
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dtype=vol.dtype,
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),
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atol=1e-7,
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)
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# 7th test: hand coded example and test with meshlab output
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@ -283,20 +284,36 @@ class TestIoU3D(TestCaseMixin, unittest.TestCase):
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self.assertClose(vols, torch.tensor([[vol_inters]], device=device), atol=1e-1)
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self.assertClose(ious, torch.tensor([[iou]], device=device), atol=1e-1)
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def _test_real_boxes(self, overlap_fn, device):
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data_filename = "./real_boxes.pkl"
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with open(DATA_DIR / data_filename, "rb") as f:
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example = pickle.load(f)
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verts1 = torch.FloatTensor(example["verts1"])
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verts2 = torch.FloatTensor(example["verts2"])
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boxes = torch.stack((verts1, verts2)).to(device)
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iou_expected = torch.eye(2).to(device)
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vol, iou = overlap_fn(boxes, boxes)
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self.assertClose(iou, iou_expected)
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def test_iou_naive(self):
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device = get_random_cuda_device()
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self._test_iou(self._box3d_overlap_naive_batched, device)
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self._test_compare_objectron(self._box3d_overlap_naive_batched, device)
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self._test_real_boxes(self._box3d_overlap_naive_batched, device)
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def test_iou_cpu(self):
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device = torch.device("cpu")
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self._test_iou(box3d_overlap, device)
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self._test_compare_objectron(box3d_overlap, device)
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self._test_real_boxes(box3d_overlap, device)
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def test_iou_cuda(self):
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device = torch.device("cuda:0")
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self._test_iou(box3d_overlap, device)
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self._test_compare_objectron(box3d_overlap, device)
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self._test_real_boxes(box3d_overlap, device)
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def _test_compare_objectron(self, overlap_fn, device):
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# Load saved objectron data
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@ -656,7 +673,7 @@ def is_inside(
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n: torch.Tensor,
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points: torch.Tensor,
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return_proj: bool = True,
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eps: float = 1e-6,
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eps: float = 1e-4,
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):
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"""
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Computes whether point is "inside" the plane.
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@ -778,17 +795,17 @@ def clip_tri_by_plane_oneout(
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vout is "outside" the plane and vin1, vin2 are "inside"
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Returns:
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verts: tensor of shape (4, 3) containing the new vertices formed after clipping the
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original intersectiong triangle (vout, vin1, vin2)
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original intersecting triangle (vout, vin1, vin2)
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faces: tensor of shape (2, 3) defining the vertex indices forming the two new triangles
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which are "inside" the plane formed after clipping
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"""
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device = plane.device
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# point of intersection between plane and (vin1, vout)
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pint1, a1 = plane_edge_point_of_intersection(plane, n, vin1, vout)
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assert a1 >= eps and a1 <= 1.0, a1
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assert a1 >= -eps and a1 <= 1.0 + eps, a1
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# point of intersection between plane and (vin2, vout)
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pint2, a2 = plane_edge_point_of_intersection(plane, n, vin2, vout)
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assert a2 >= 0.0 and a2 <= 1.0, a2
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assert a2 >= -eps and a2 <= 1.0 + eps, a2
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verts = torch.stack((vin1, pint1, pint2, vin2), dim=0) # 4x3
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faces = torch.tensor(
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@ -823,10 +840,10 @@ def clip_tri_by_plane_twoout(
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device = plane.device
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# point of intersection between plane and (vin, vout1)
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pint1, a1 = plane_edge_point_of_intersection(plane, n, vin, vout1)
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assert a1 >= eps and a1 <= 1.0, a1
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assert a1 >= -eps and a1 <= 1.0 + eps, a1
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# point of intersection between plane and (vin, vout2)
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pint2, a2 = plane_edge_point_of_intersection(plane, n, vin, vout2)
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assert a2 >= eps and a2 <= 1.0, a2
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assert a2 >= -eps and a2 <= 1.0 + eps, a2
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verts = torch.stack((vin, pint1, pint2), dim=0) # 3x3
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faces = torch.tensor(
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@ -917,6 +934,7 @@ def box3d_overlap_naive(box1: torch.Tensor, box2: torch.Tensor):
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`iou = vol / (vol1 + vol2 - vol)`
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"""
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device = box1.device
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# For boxes1 we compute the unit directions n1 corresponding to quad_faces
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n1 = box_planar_dir(box1) # (6, 3)
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# For boxes2 we compute the unit directions n2 corresponding to quad_faces
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