(self)
| 102 | print(f"{num}\t{num_kernels}\t{t}") |
| 103 | |
| 104 | def test_pcd2(self): |
| 105 | coords, colors, pcd = load_file("1.ply") |
| 106 | kernel_size = torch.IntTensor([3, 3, 3]) |
| 107 | for occupancy in [50]: |
| 108 | for batch_size in [1, 5, 10, 20, 40]: |
| 109 | for voxel_size in [0.05, 0.035, 0.02]: |
| 110 | min_time = 100000 |
| 111 | dcoords = torch.from_numpy(np.floor(coords / voxel_size)).int() |
| 112 | bcoords = batched_coordinates( |
| 113 | [dcoords for i in range(batch_size)] |
| 114 | ).to(0) |
| 115 | for i in range(10): |
| 116 | kernel_map, num, t = MinkowskiEngineTest._C.kernel_map_test( |
| 117 | bcoords, bcoords, kernel_size, occupancy, 128, |
| 118 | ) |
| 119 | min_time = min(t, min_time) |
| 120 | |
| 121 | num_kernels = np.sum([len(a) for a in kernel_map[0]]) |
| 122 | print( |
| 123 | f"{occupancy}\t{batch_size}\t{voxel_size}\t{num}\t{num_kernels}\t{min_time}" |
| 124 | ) |
nothing calls this directly
no test coverage detected