C++ IoU for 3D Boxes

Summary: C++ Implementation of algorithm to compute 3D bounding boxes for batches of bboxes of shape (N, 8, 3) and (M, 8, 3).

Reviewed By: gkioxari

Differential Revision: D30905190

fbshipit-source-id: 02e2cf025cd4fa3ff706ce5cf9b82c0fb5443f96

pytorch3d/csrc/ext.cpp

@@ -20,6 +20,7 @@
 #include "face_areas_normals/face_areas_normals.h"
 #include "gather_scatter/gather_scatter.h"
 #include "interp_face_attrs/interp_face_attrs.h"
+#include "iou_box3d/iou_box3d.h"
 #include "knn/knn.h"
 #include "mesh_normal_consistency/mesh_normal_consistency.h"
 #include "packed_to_padded_tensor/packed_to_padded_tensor.h"
@@ -87,6 +88,9 @@ PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
   // Sample PDF
   m.def("sample_pdf", &SamplePdf);
 
+  // 3D IoU
+  m.def("iou_box3d", &IoUBox3D);
+
   // Pulsar.
 #ifdef PULSAR_LOGGING_ENABLED
   c10::ShowLogInfoToStderr();

pytorch3d/csrc/iou_box3d/iou_box3d.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright (c) Facebook, Inc. and its affiliates.
+ * All rights reserved.
+ *
+ * This source code is licensed under the BSD-style license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+#include <torch/extension.h>
+#include <tuple>
+#include "utils/pytorch3d_cutils.h"
+
+// Calculate the intersection volume and IoU metric for two batches of boxes
+//
+// Args:
+//     boxes1: tensor of shape (N, 8, 3) of the coordinates of the 1st boxes
+//     boxes2: tensor of shape (M, 8, 3) of the coordinates of the 2nd boxes
+// Returns:
+//     vol: (N, M) tensor of the volume of the intersecting convex shapes
+//     iou: (N, M) tensor of the intersection over union which is
+//          defined as: `iou = vol / (vol1 + vol2 - vol)`
+
+// CPU implementation
+std::tuple<at::Tensor, at::Tensor> IoUBox3DCpu(
+    const at::Tensor& boxes1,
+    const at::Tensor& boxes2);
+
+// Implementation which is exposed
+inline std::tuple<at::Tensor, at::Tensor> IoUBox3D(
+    const at::Tensor& boxes1,
+    const at::Tensor& boxes2) {
+  if (boxes1.is_cuda() || boxes2.is_cuda()) {
+    AT_ERROR("GPU support not implemented");
+  }
+  return IoUBox3DCpu(boxes1.contiguous(), boxes2.contiguous());
+}

pytorch3d/csrc/iou_box3d/iou_box3d_cpu.cpp

@@ -0,0 +1,121 @@
+/*
+ * Copyright (c) Facebook, Inc. and its affiliates.
+ * All rights reserved.
+ *
+ * This source code is licensed under the BSD-style license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#include <torch/extension.h>
+#include <torch/torch.h>
+#include <list>
+#include <numeric>
+#include <queue>
+#include <tuple>
+#include "iou_box3d/iou_utils.h"
+
+std::tuple<at::Tensor, at::Tensor> IoUBox3DCpu(
+    const at::Tensor& boxes1,
+    const at::Tensor& boxes2) {
+  const int N = boxes1.size(0);
+  const int M = boxes2.size(0);
+  auto float_opts = boxes1.options().dtype(torch::kFloat32);
+  torch::Tensor vols = torch::zeros({N, M}, float_opts);
+  torch::Tensor ious = torch::zeros({N, M}, float_opts);
+
+  // Create tensor accessors
+  auto boxes1_a = boxes1.accessor<float, 3>();
+  auto boxes2_a = boxes2.accessor<float, 3>();
+  auto vols_a = vols.accessor<float, 2>();
+  auto ious_a = ious.accessor<float, 2>();
+
+  // Iterate through the N boxes in boxes1
+  for (int n = 0; n < N; ++n) {
+    const auto& box1 = boxes1_a[n];
+    // Convert to vector of face vertices i.e. effectively (F, 3, 3)
+    // face_verts is a data type defined in iou_utils.h
+    const face_verts box1_tris = GetBoxTris(box1);
+
+    // Calculate the position of the center of the box which is used in
+    // several calculations. This requires a tensor as input.
+    const vec3<float> box1_center = BoxCenter(boxes1[n]);
+
+    // Convert to vector of face vertices i.e. effectively (P, 4, 3)
+    const face_verts box1_planes = GetBoxPlanes(box1);
+
+    // Get Box Volumes
+    const float box1_vol = BoxVolume(box1_tris, box1_center);
+
+    // Iterate through the M boxes in boxes2
+    for (int m = 0; m < M; ++m) {
+      // Repeat above steps for box2
+      // TODO: check if caching these value helps performance.
+      const auto& box2 = boxes2_a[m];
+      const face_verts box2_tris = GetBoxTris(box2);
+      const vec3<float> box2_center = BoxCenter(boxes2[m]);
+      const face_verts box2_planes = GetBoxPlanes(box2);
+      const float box2_vol = BoxVolume(box2_tris, box2_center);
+
+      // Every triangle in one box will be compared to each plane in the other
+      // box. There are 3 possible outcomes:
+      // 1. If the triangle is fully inside, then it will
+      //    remain as is.
+      // 2. If the triagnle it is fully outside, it will be removed.
+      // 3. If the triangle intersects with the (infinite) plane, it
+      //    will be broken into subtriangles such that each subtriangle is full
+      //    inside the plane and part of the intersecting tetrahedron.
+
+      // Tris in Box1 -> Planes in Box2
+      face_verts box1_intersect =
+          BoxIntersections(box1_tris, box2_planes, box2_center);
+      // Tris in Box2 -> Planes in Box1
+      face_verts box2_intersect =
+          BoxIntersections(box2_tris, box1_planes, box1_center);
+
+      // If there are overlapping regions in Box2, remove any coplanar faces
+      if (box2_intersect.size() > 0) {
+        // Identify if any triangles in Box2 are coplanar with Box1
+        std::vector<int> tri2_keep(box2_intersect.size());
+        std::fill(tri2_keep.begin(), tri2_keep.end(), 1);
+        for (int b1 = 0; b1 < box1_intersect.size(); ++b1) {
+          for (int b2 = 0; b2 < box2_intersect.size(); ++b2) {
+            bool is_coplanar =
+                IsCoplanarFace(box1_intersect[b1], box2_intersect[b2]);
+            if (is_coplanar) {
+              tri2_keep[b2] = 0;
+            }
+          }
+        }
+
+        // Keep only the non coplanar triangles in Box2 - add them to the
+        // Box1 triangles.
+        for (int b2 = 0; b2 < box2_intersect.size(); ++b2) {
+          if (tri2_keep[b2] == 1) {
+            box1_intersect.push_back((box2_intersect[b2]));
+          }
+        }
+      }
+
+      // Initialize the vol and iou to 0.0 in case there are no triangles
+      // in the intersecting shape.
+      float vol = 0.0;
+      float iou = 0.0;
+
+      // If there are triangles in the intersecting shape
+      if (box1_intersect.size() > 0) {
+        // The intersecting shape is a polyhedron made up of the
+        // triangular faces that are all now in box1_intersect.
+        // Calculate the polyhedron center
+        const vec3<float> polyhedron_center = PolyhedronCenter(box1_intersect);
+        // Compute intersecting polyhedron volume
+        vol = BoxVolume(box1_intersect, polyhedron_center);
+        // Compute IoU
+        iou = vol / (box1_vol + box2_vol - vol);
+      }
+      // Save out volume and IoU
+      vols_a[n][m] = vol;
+      ious_a[n][m] = iou;
+    }
+  }
+  return std::make_tuple(vols, ious);
+}