(self)
| 116 | self.assertEqual(out_maps[2], [1]) |
| 117 | |
| 118 | def test_pcd(self): |
| 119 | coords, colors, pcd = load_file("1.ply") |
| 120 | kernel_size = torch.IntTensor([3, 3, 3]) |
| 121 | for batch_size in [1, 5, 10, 20, 40]: |
| 122 | for voxel_size in [0.05, 0.035, 0.02]: |
| 123 | min_time = 100000 |
| 124 | dcoords = torch.from_numpy(np.floor(coords / voxel_size)).int() |
| 125 | bcoords = batched_coordinates([dcoords for i in range(batch_size)]) |
| 126 | for i in range(10): |
| 127 | kernel_map, num, t = MinkowskiEngineTest._C.kernel_map_test( |
| 128 | bcoords, bcoords, kernel_size |
| 129 | ) |
| 130 | min_time = min(t, min_time) |
| 131 | |
| 132 | num_kernels = np.sum([len(a) for a in kernel_map[0]]) |
| 133 | print(f"{batch_size}\t{voxel_size}\t{num}\t{num_kernels}\t{min_time}") |
nothing calls this directly
no test coverage detected