lower eps in box iou3d

pytorch3d/csrc/iou_box3d/iou_utils.cuh

@@ -15,7 +15,7 @@
 // are orthogonal (or coplanar). It's an epsilon on cos(θ).
 // With dEpsilon = 0.001, two unit vectors are considered co-planar
 // if their θ = 2.5 deg.
-__constant__ const float dEpsilon = 1e-3;
+__constant__ const float dEpsilon = 1e-4;
 // aEpsilon: Used once in main function to check for small face areas
 __constant__ const float aEpsilon = 1e-4;
 // kEpsilon: Used only for norm(u) = u/max(||u||, kEpsilon)

pytorch3d/csrc/iou_box3d/iou_utils.h

@@ -22,7 +22,7 @@
 // are orthogonal (or coplanar). It's an epsilon on cos(θ).
 // With dEpsilon = 0.001, two unit vectors are considered co-planar
 // if their θ = 2.5 deg.
-const auto dEpsilon = 1e-3;
+const auto dEpsilon = 1e-4;
 // aEpsilon: Used once in main function to check for small face areas
 const auto aEpsilon = 1e-4;
 // kEpsilon: Used only for norm(u) = u/max(||u||, kEpsilon)

tests/test_iou_box3d.py

@@ -21,7 +21,7 @@
 OBJECTRON_TO_PYTORCH3D_FACE_IDX = [0, 4, 6, 2, 1, 5, 7, 3]
 DATA_DIR = get_tests_dir() / "data"
 DEBUG = False
-DOT_EPS = 1e-3
+DOT_EPS = 1e-4
 AREA_EPS = 1e-4
 
 UNIT_BOX = [