fix: use parameters.fov_eps_rad in compute_histogram_equalization#1010
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abhinow03 wants to merge 1 commit into
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fix: use parameters.fov_eps_rad in compute_histogram_equalization#1010abhinow03 wants to merge 1 commit into
abhinow03 wants to merge 1 commit into
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The FOV bounds check hardcoded 2 * float32 eps instead of the model's fov_eps_rad (fov_eps_factor * eps, default factor 4), so angles within the model's own tolerance could trip the out-of-bounds assertions and the user-supplied fov_eps_factor had no effect here. Resolves the existing TODO by using the parameter. Fixes nerfstudio-project#973
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compute_histogram_equalization checks sensor angles against a hardcoded tolerance of 2 * torch.finfo(torch.float32).eps, while the lidar model's own tolerance is parameters.fov_eps_rad (fov_eps_factor * eps, default factor 4). Angles within the model's tolerance can therefore trip the azimuths are out of bounds / elevations are out of bounds assertions, and the user-supplied fov_eps_factor has no effect on this check.
This resolves the existing TODO on that line by using parameters.fov_eps_rad, making the histogram-equalization bounds consistent withvalid_sensor_angles and the CUDA side (Lidars.cuh), which already use fov_eps_rad.
Fixes #973