eps fix for iou3d

Summary: Fix EPS issue that causes numerical instabilities when boxes are very close Reviewed By: kjchalup Differential Revision: D38661465 fbshipit-source-id: d2b6753cba9dc2f0072ace5289c9aa815a1a29f6
facebookresearch · Aug 22, 2022 · 1bfe6bf · 1bfe6bf
1 parent 06cbba2
commit 1bfe6bf
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Showing 5 changed files with 923 additions and 188 deletions.
diff --git a/pytorch3d/csrc/iou_box3d/iou_box3d.cu b/pytorch3d/csrc/iou_box3d/iou_box3d.cu
@@ -88,9 +88,9 @@ __global__ void IoUBox3DKernel(
       for (int b1 = 0; b1 < box1_count; ++b1) {
         for (int b2 = 0; b2 < box2_count; ++b2) {
           const bool is_coplanar =
-              IsCoplanarFace(box1_intersect[b1], box2_intersect[b2]);
+              IsCoplanarTriTri(box1_intersect[b1], box2_intersect[b2]);
           const float area = FaceArea(box1_intersect[b1]);
-          if ((is_coplanar) && (area > kEpsilon)) {
+          if ((is_coplanar) && (area > aEpsilon)) {
             tri2_keep[b2].keep = false;
           }
         }

diff --git a/pytorch3d/csrc/iou_box3d/iou_box3d_cpu.cpp b/pytorch3d/csrc/iou_box3d/iou_box3d_cpu.cpp
@@ -80,9 +80,9 @@ std::tuple<at::Tensor, at::Tensor> IoUBox3DCpu(
         for (int b1 = 0; b1 < box1_intersect.size(); ++b1) {
           for (int b2 = 0; b2 < box2_intersect.size(); ++b2) {
             const bool is_coplanar =
-                IsCoplanarFace(box1_intersect[b1], box2_intersect[b2]);
+                IsCoplanarTriTri(box1_intersect[b1], box2_intersect[b2]);
             const float area = FaceArea(box1_intersect[b1]);
-            if ((is_coplanar) && (area > kEpsilon)) {
+            if ((is_coplanar) && (area > aEpsilon)) {
               tri2_keep[b2] = 0;
             }
           }