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small fix for iou3d

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Summary:
A small numerical fix for IoU for 3D boxes, fixes GH #992

* Adds a check for boxes with zero side areas (invalid boxes)
* Fixes numerical issue when two boxes have coplanar sides

Reviewed By: nikhilaravi

Differential Revision: D33195691

fbshipit-source-id: 8a34b4d1f1e5ec2edb6d54143930da44bdde0906
This commit is contained in:
Georgia Gkioxari
2021-12-17 16:12:51 -08:00
committed by Facebook GitHub Bot
parent 069c9fd759
commit ccfb72cc50
6 changed files with 202 additions and 4 deletions
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3
pytorch3d/csrc/iou_box3d/iou_box3d.cu
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@@ -90,7 +90,8 @@ __global__ void IoUBox3DKernel(
for (int b2 = 0; b2 < box2_count; ++b2) {
const bool is_coplanar =
IsCoplanarFace(box1_intersect[b1], box2_intersect[b2]);
if (is_coplanar) {
const float area = FaceArea(box1_intersect[b1]);
if ((is_coplanar) && (area > kEpsilon)) {
tri2_keep[b2].keep = false;
}
}