(self)
| 222 | self.assertTrue(len(ofield) == len(tfield)) |
| 223 | |
| 224 | def field_to_sparse(self): |
| 225 | coords, colors, pcd = load_file("1.ply") |
| 226 | voxel_size = 0.02 |
| 227 | colors = torch.from_numpy(colors).float() |
| 228 | bcoords = batched_coordinates([coords / voxel_size], dtype=torch.float32) |
| 229 | tfield = TensorField(colors, bcoords) |
| 230 | |
| 231 | network = nn.Sequential( |
| 232 | MinkowskiToSparseTensor(), |
| 233 | MinkowskiConvolution(3, 8, kernel_size=3, stride=4, dimension=3), |
| 234 | MinkowskiReLU(), |
| 235 | MinkowskiConvolution(8, 16, kernel_size=3, stride=4, dimension=3), |
| 236 | ) |
| 237 | |
| 238 | otensor = network(tfield) |
| 239 | otensor.F.sum().backward() |
| 240 | field_to_sparse = tfield.sparse(coordinate_map_key=otensor.coordinate_map_key) |
| 241 | self.assertTrue(len(field_to_sparse.F) == len(otensor)) |
| 242 | |
| 243 | |
| 244 | class TestTensorFieldSplat(unittest.TestCase): |
nothing calls this directly
no test coverage detected