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Add structured bindings to iou to prove that we're C++17-friendly. Also other minor improvements to bbox iou

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Summary: Recently we removed C++14-only compilation, should work.

Reviewed By: bottler

Differential Revision: D38919607

fbshipit-source-id: 6a26fa7713f7ba2163364ccc673ad774aa3a5adb
This commit is contained in:
Krzysztof Chalupka
2022-08-23 13:35:21 -07:00
committed by Facebook GitHub Bot
parent 5e7707b157
commit c4545a7cbc
2 changed files with 61 additions and 165 deletions
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9
pytorch3d/csrc/iou_box3d/iou_box3d.cu
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@@ -29,14 +29,17 @@ __global__ void IoUBox3DKernel(
const size_t tid = blockIdx.x * blockDim.x + threadIdx.x;
const size_t stride = gridDim.x * blockDim.x;
std::array<FaceVerts, NUM_TRIS> box1_tris{};
std::array<FaceVerts, NUM_TRIS> box2_tris{};
std::array<FaceVerts, NUM_PLANES> box1_planes{};
std::array<FaceVerts, NUM_PLANES> box2_planes{};
for (size_t i = tid; i < N * M; i += stride) {
const size_t n = i / M; // box1 index
const size_t m = i % M; // box2 index
// Convert to array of structs of face vertices i.e. effectively (F, 3, 3)
// FaceVerts is a data type defined in iou_utils.cuh
FaceVerts box1_tris[NUM_TRIS];
FaceVerts box2_tris[NUM_TRIS];
GetBoxTris(boxes1[n], box1_tris);
GetBoxTris(boxes2[m], box2_tris);
@@ -46,9 +49,7 @@ __global__ void IoUBox3DKernel(
const float3 box2_center = BoxCenter(boxes2[m]);
// Convert to an array of face vertices
FaceVerts box1_planes[NUM_PLANES];
GetBoxPlanes(boxes1[n], box1_planes);
FaceVerts box2_planes[NUM_PLANES];
GetBoxPlanes(boxes2[m], box2_planes);
// Get Box Volumes