| 111 | assert np.allclose(pidxs, pidxs_gt), f"[{b},{m}], {pidxs}, {pidxs_gt}" |
| 112 | |
| 113 | def test( |
| 114 | self, |
| 115 | b=10, |
| 116 | m=7, |
| 117 | n=20, |
| 118 | max_grid_size=5, |
| 119 | seed=1, |
| 120 | ): |
| 121 | if seed is not None: |
| 122 | torch.manual_seed(seed) |
| 123 | random.seed(seed) |
| 124 | np.random.seed(seed) |
| 125 | |
| 126 | points = torch.randn(b, n, 3) |
| 127 | ray_origins = torch.randn(b, m, 3) |
| 128 | ray_directions = torch.nn.functional.normalize(torch.randn(b, m, 3), dim=-1) |
| 129 | ray_radius = torch.rand(b) + 0.01 |
| 130 | grid_size = (torch.rand(b, 3) * (max_grid_size - 1) + 1).long() |
| 131 | |
| 132 | self._test( |
| 133 | points=points, |
| 134 | ray_origins=ray_origins, |
| 135 | ray_directions=ray_directions, |
| 136 | ray_radius=ray_radius, |
| 137 | grid_size=grid_size, |
| 138 | # include_outside=include_outside, |
| 139 | ) |
| 140 | |
| 141 | def test2(self): |
| 142 | max_b = 100 |