Method test_forward

tests/python/convolution.py:596–654

(self)

class TestPCD(unittest.TestCase):
    def test_forward(self):
        coords, colors, pcd = load_file("1.ply")
        device = "cuda"

        X = []
        Y = []
        W = []
        for IC in [3, 8, 16, 24, 32, 48, 64, 96, 128]:
            for OC in [3, 8, 16, 24, 32, 48, 64, 96, 128, 192, 256]:
                for batch_size in [1, 5, 10, 15, 20]:
                    for voxel_size in [0.2, 0.1, 0.075, 0.05, 0.025]:
                        min_times = []
                        for mode in [
                            _C.ConvolutionMode.DIRECT_GEMM,
                            _C.ConvolutionMode.COPY_GEMM,
                        ]:
                            min_time = 100000
                            dcoords = torch.from_numpy(
                                np.floor(coords / voxel_size)
                            ).int()
                            bcoords = batched_coordinates(
                                [dcoords for i in range(batch_size)]
                            )
                            in_feats = torch.rand(len(bcoords), IC).to(0)
                            sinput = SparseTensor(
                                in_feats, coordinates=bcoords, device=device
                            )
                            conv = MinkowskiConvolution(
                                in_channels=IC,
                                out_channels=OC,
                                kernel_size=3,
                                stride=2,
                                convolution_mode=mode,
                                dimension=3,
                            ).to(device)
                            soutput = conv(sinput)
                            loss = soutput.F.sum()
                            for i in range(10):
                                stime = time.time()
                                loss.backward()
                                min_time = min(time.time() - stime, min_time)
                            min_times.append(min_time)

                        X.append(
                            [
                                IC,
                                OC,
                                len(sinput),
                                len(soutput),
                            ]
                        )
                        Y.append(np.argmin(min_times))
                        W.append(np.abs(min_times[0] - min_times[1]))
                        print(X[-1], Y[-1], W[-1])

        import pickle as pkl

        with open("forward-speed.pkl", "wb") as f: