small numerical fix to point_mesh

gkioxari · facebook-github-bot · commit ee71c7c44786 · 2022-02-21T09:26:38.000-08:00
Summary: Small fix by adjusting the area `eps` to account for really small faces when computing point to face distances

Reviewed By: bottler

Differential Revision: D34331336

fbshipit-source-id: 51c4888ea46fefa4e31d5b0bb494a9f9d77813cd
diff --git a/pytorch3d/csrc/utils/geometry_utils.cuh b/pytorch3d/csrc/utils/geometry_utils.cuh
@@ -550,7 +550,7 @@ __device__ inline bool IsInsideTriangle(
     const float3& v1,
     const float3& v2) {
   bool inside;
-  if (AreaOfTriangle(v0, v1, v2) < 1e-5) {
+  if (AreaOfTriangle(v0, v1, v2) < 5e-3) {
     inside = 0;
   } else {
     float3 bary = BarycentricCoords3Forward(p, v0, v1, v2);
diff --git a/pytorch3d/csrc/utils/geometry_utils.h b/pytorch3d/csrc/utils/geometry_utils.h
@@ -651,7 +651,7 @@ static bool IsInsideTriangle(
     const vec3<T>& v1,
     const vec3<T>& v2) {
   bool inside;
-  if (AreaOfTriangle(v0, v1, v2) < 1e-5) {
+  if (AreaOfTriangle(v0, v1, v2) < 5e-3) {
     inside = 0;
   } else {
     vec3<T> bary = BarycentricCoords3Forward(p, v0, v1, v2);
diff --git a/tests/test_point_mesh_distance.py b/tests/test_point_mesh_distance.py
@@ -11,7 +11,11 @@
 from common_testing import TestCaseMixin, get_random_cuda_device
 from pytorch3d import _C
 from pytorch3d.loss import point_mesh_edge_distance, point_mesh_face_distance
-from pytorch3d.structures import Meshes, Pointclouds, packed_to_list
+from pytorch3d.structures import (
+    Meshes,
+    Pointclouds,
+    packed_to_list,
+)
 
 
 class TestPointMeshDistance(TestCaseMixin, unittest.TestCase):
@@ -126,7 +130,7 @@ def _is_inside_triangle(point: torch.Tensor, tri: torch.Tensor) -> torch.Tensor:
         area = torch.cross(v0, v1).norm() / 2.0
 
         # check if triangle is a line or a point. In that case, return False
-        if area < 1e-5:
+        if area < 5e-3:
             return False
         bary = TestPointMeshDistance._point_to_bary(point, tri)
         inside = ((bary >= 0.0) * (bary <= 1.0)).all()
