import torch from pytorch3d.ops import box3d_overlap corners1 = torch.tensor([[ [ 0.2411, -0.1752, 1.2247], [ 0.1951, -0.4194, 1.7741], [ 0.2036, 0.4826, 2.1757], [ 0.2495, 0.7267, 1.6263], [-0.2920, -0.1549, 1.1903], [-0.3380, -0.3991, 1.7396], [-0.3295, 0.5029, 2.1412], [-0.2835, 0.7471, 1.5919]]], device='cuda') corners2 = torch.tensor([[ [ 0.2390, -0.1764, 1.2246], [ 0.1930, -0.4205, 1.7740], [ 0.2055, 0.4813, 2.1759], [ 0.2515, 0.7254, 1.6265], [-0.2940, -0.1536, 1.1901], [-0.3400, -0.3978, 1.7395], [-0.3274, 0.5040, 2.1414], [-0.2815, 0.7482, 1.5920]]], device='cuda') vol, iou = box3d_overlap(corners1, corners2) print(iou[0][0]) # should be 0.9944