code: def _check_coplanar(boxes: torch.Tensor, eps: float = 1e-4) -> None:
      faces = torch.tensor(
          _box_planes, dtype=torch.int64, device=boxes.device
      )
      verts = boxes.index_select(index=faces.view(-1), dim=1)
      B = boxes.shape[0]
      P, V = faces.shape
      # (B, P, 4, 3) -> (B, P, 3)
      v0, v1, v2, v3 = verts.reshape(B, P, V, 3).unbind(2)
  
      # Compute the normal
      e0 = F.normalize(v1 - v0, dim=-1)
      e1 = F.normalize(v2 - v0, dim=-1)
      normal = F.normalize(torch.cross(e0, e1, dim=-1), dim=-1)
  
      # Check the fourth vertex is also on the same plane
      mat1 = (v3 - v0).view(B, 1, -1)  # (B, 1, P*3)
      mat2 = normal.view(B, -1, 1)  # (B, P*3, 1)
      if not (mat1.bmm(mat2).abs() < eps).all().item():
          msg = "Plane vertices are not coplanar"
          raise ValueError(msg)
  
      return
  
file_path: pytorch3d/pytorch3d/ops/iou_box3d.py
imports: from typing import Tuple
  import torch
  import torch.nn.functional
  from pytorch3d import _C
  from torch.autograd import Function
label_desc: Use image node_id 1 for calling a global function with example usage: _check_coplanar(boxes, eps) without return types