Fix colorize_bbox_3d to return correct shape #1859
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The `colorize_bbox_3d` function is expected to return an array of shape `(N, 8, 3)`. Since `world_points_homo` is shape `(N, 4)` and `view_proj_mat` is `(4, 4)`, the matrix multiplication is required.
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Pull Request Overview
This PR fixes a bug in the world_to_image_pinhole function where incorrect matrix operations were producing wrong output shapes. The function is expected to return an array of shape (N, 8, 3) but was using th.dot instead of proper matrix multiplication.
Key Changes
- Replaced
th.dotwithth.matmulfor proper matrix multiplication betweenworld_points_homoandview_proj_mat
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| view_proj_mat = view_mat @ proj_mat | ||
| world_points_homo = th.nn.functional.pad(world_points, (0, 1, 0, 0), value=1.0) | ||
| tf_points = th.dot(world_points_homo, view_proj_mat) | ||
| tf_points = th.matmul(world_points_homo, view_proj_mat) |
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The fix correctly addresses the shape issue. However, th.matmul with these shapes will produce (N, 4) output, not (N, 8, 3) as mentioned in the description. The actual shape depends on the input world_points dimensions. Consider verifying the expected input shape matches the desired output shape.
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The
colorize_bbox_3dfunction is expected to return an array of shape(N, 8, 3).Since
world_points_homois shape(N, 4)andview_proj_matis(4, 4), the matrix multiplication is required.