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Fix: Pointclouds.inside_box reducing over spatial dimensions.
Summary: As subj. Tests corrected accordingly. Also changed the test to provide a bit better diagnostics. Reviewed By: bottler Differential Revision: D32879498 fbshipit-source-id: 0a852e4a13dcb4ca3e54d71c6b263c5d2eeaf4eb
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@ -1176,5 +1176,5 @@ class Pointclouds:
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]
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box = torch.cat(box, 0)
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idx = (points_packed >= box[:, 0]) * (points_packed <= box[:, 1])
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return idx
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coord_inside = (points_packed >= box[:, 0]) * (points_packed <= box[:, 1])
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return coord_inside.all(dim=-1)
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@ -163,8 +163,17 @@ class TestCaseMixin(unittest.TestCase):
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if close:
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return
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diff = backend.abs(input + 0.0 - other)
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ratio = diff / backend.abs(other)
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# handle bool case
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if backend == torch and input.dtype == torch.bool:
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diff = (input != other).float()
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ratio = diff
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if backend == np and input.dtype == bool:
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diff = (input != other).astype(float)
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ratio = diff
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else:
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diff = backend.abs(input + 0.0 - other)
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ratio = diff / backend.abs(other)
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try_relative = (diff <= atol) | (backend.isfinite(ratio) & (ratio > 0))
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if try_relative.all():
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if backend == np:
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@ -976,7 +976,9 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
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def test_inside_box(self):
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def inside_box_naive(cloud, box_min, box_max):
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return (cloud >= box_min.view(1, 3)) * (cloud <= box_max.view(1, 3))
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return ((cloud >= box_min.view(1, 3)) * (cloud <= box_max.view(1, 3))).all(
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dim=-1
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)
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N, P, C = 5, 100, 4
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@ -994,7 +996,7 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
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for i, cloud in enumerate(clouds.points_list()):
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within_box_naive.append(inside_box_naive(cloud, box[i, 0], box[i, 1]))
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within_box_naive = torch.cat(within_box_naive, 0)
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self.assertTrue(within_box.eq(within_box_naive).all())
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self.assertClose(within_box, within_box_naive)
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# box of shape 2x3
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box2 = box[0, :]
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@ -1005,13 +1007,13 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
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for cloud in clouds.points_list():
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within_box_naive2.append(inside_box_naive(cloud, box2[0], box2[1]))
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within_box_naive2 = torch.cat(within_box_naive2, 0)
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self.assertTrue(within_box2.eq(within_box_naive2).all())
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self.assertClose(within_box2, within_box_naive2)
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# box of shape 1x2x3
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box3 = box2.expand(1, 2, 3)
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within_box3 = clouds.inside_box(box3)
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self.assertTrue(within_box2.eq(within_box3).all())
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self.assertClose(within_box2, within_box3)
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# invalid box
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invalid_box = torch.cat(
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