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Fix: Pointclouds.inside_box reducing over spatial dimensions.

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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
This commit is contained in:
Roman Shapovalov 2021-12-06 07:44:14 -08:00 committed by Facebook GitHub Bot
parent d9f709599b
commit a6508ac3df
3 changed files with 19 additions and 8 deletions
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4
pytorch3d/structures/pointclouds.py
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@ -1176,5 +1176,5 @@ class Pointclouds:
] ]
box = torch.cat(box, 0) box = torch.cat(box, 0)
idx = (points_packed >= box[:, 0]) * (points_packed <= box[:, 1]) coord_inside = (points_packed >= box[:, 0]) * (points_packed <= box[:, 1])
return idx return coord_inside.all(dim=-1)

9
tests/common_testing.py
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@ -163,8 +163,17 @@ class TestCaseMixin(unittest.TestCase):
if close: if close:
return return
# handle bool case
if backend == torch and input.dtype == torch.bool:
diff = (input != other).float()
ratio = diff
if backend == np and input.dtype == bool:
diff = (input != other).astype(float)
ratio = diff
else:
diff = backend.abs(input + 0.0 - other) diff = backend.abs(input + 0.0 - other)
ratio = diff / backend.abs(other) ratio = diff / backend.abs(other)
try_relative = (diff <= atol) | (backend.isfinite(ratio) & (ratio > 0)) try_relative = (diff <= atol) | (backend.isfinite(ratio) & (ratio > 0))
if try_relative.all(): if try_relative.all():
if backend == np: if backend == np:

10
tests/test_pointclouds.py
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@ -976,7 +976,9 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
def test_inside_box(self): def test_inside_box(self):
def inside_box_naive(cloud, box_min, box_max): def inside_box_naive(cloud, box_min, box_max):
return (cloud >= box_min.view(1, 3)) * (cloud <= box_max.view(1, 3)) return ((cloud >= box_min.view(1, 3)) * (cloud <= box_max.view(1, 3))).all(
dim=-1
)
N, P, C = 5, 100, 4 N, P, C = 5, 100, 4
@ -994,7 +996,7 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
for i, cloud in enumerate(clouds.points_list()): for i, cloud in enumerate(clouds.points_list()):
within_box_naive.append(inside_box_naive(cloud, box[i, 0], box[i, 1])) within_box_naive.append(inside_box_naive(cloud, box[i, 0], box[i, 1]))
within_box_naive = torch.cat(within_box_naive, 0) within_box_naive = torch.cat(within_box_naive, 0)
self.assertTrue(within_box.eq(within_box_naive).all()) self.assertClose(within_box, within_box_naive)
# box of shape 2x3 # box of shape 2x3
box2 = box[0, :] box2 = box[0, :]
@ -1005,13 +1007,13 @@ class TestPointclouds(TestCaseMixin, unittest.TestCase):
for cloud in clouds.points_list(): for cloud in clouds.points_list():
within_box_naive2.append(inside_box_naive(cloud, box2[0], box2[1])) within_box_naive2.append(inside_box_naive(cloud, box2[0], box2[1]))
within_box_naive2 = torch.cat(within_box_naive2, 0) within_box_naive2 = torch.cat(within_box_naive2, 0)
self.assertTrue(within_box2.eq(within_box_naive2).all()) self.assertClose(within_box2, within_box_naive2)
# box of shape 1x2x3 # box of shape 1x2x3
box3 = box2.expand(1, 2, 3) box3 = box2.expand(1, 2, 3)
within_box3 = clouds.inside_box(box3) within_box3 = clouds.inside_box(box3)
self.assertTrue(within_box2.eq(within_box3).all()) self.assertClose(within_box2, within_box3)
# invalid box # invalid box
invalid_box = torch.cat( invalid_box = torch.cat(