mirror of https://github.com/open-mmlab/mmcv.git
64 lines
2.7 KiB
Python
64 lines
2.7 KiB
Python
# Copyright (c) OpenMMLab. All rights reserved.
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import pytest
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import torch
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from mmcv.ops import three_nn
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from mmcv.utils import IS_CUDA_AVAILABLE, IS_MLU_AVAILABLE
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@pytest.mark.parametrize('device', [
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pytest.param(
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'cuda',
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marks=pytest.mark.skipif(
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not IS_CUDA_AVAILABLE, reason='requires CUDA support')),
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pytest.param(
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'mlu',
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marks=pytest.mark.skipif(
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not IS_MLU_AVAILABLE, reason='requires MLU support'))
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])
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def test_three_nn(device):
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known = torch.tensor(
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[[[-1.8373, 3.5605, -0.7867], [0.7615, 2.9420, 0.2314],
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[-0.6503, 3.6637, -1.0622], [-1.8373, 3.5605, -0.7867],
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[-1.8373, 3.5605, -0.7867]],
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[[-1.3399, 1.9991, -0.3698], [-0.0799, 0.9698, -0.8457],
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[0.0858, 2.4721, -0.1928], [-1.3399, 1.9991, -0.3698],
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[-1.3399, 1.9991, -0.3698]]],
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device=device)
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unknown = torch.tensor(
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[[[-1.8373, 3.5605, -0.7867], [0.7615, 2.9420, 0.2314],
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[-0.6503, 3.6637, -1.0622], [-1.5237, 2.3976, -0.8097],
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[-0.0722, 3.4017, -0.2880], [0.5198, 3.0661, -0.4605],
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[-2.0185, 3.5019, -0.3236], [0.5098, 3.1020, 0.5799],
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[-1.6137, 3.8443, -0.5269], [0.7341, 2.9626, -0.3189]],
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[[-1.3399, 1.9991, -0.3698], [-0.0799, 0.9698, -0.8457],
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[0.0858, 2.4721, -0.1928], [-0.9022, 1.6560, -1.3090],
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[0.1156, 1.6901, -0.4366], [-0.6477, 2.3576, -0.1563],
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[-0.8482, 1.1466, -1.2704], [-0.8753, 2.0845, -0.3460],
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[-0.5621, 1.4233, -1.2858], [-0.5883, 1.3114, -1.2899]]],
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device=device)
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dist, idx = three_nn(unknown, known)
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expected_dist = torch.tensor(
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[[[0.0000, 0.0000, 0.0000], [0.0000, 2.0463, 2.8588],
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[0.0000, 1.2229, 1.2229], [1.2047, 1.2047, 1.2047],
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[1.0011, 1.0845, 1.8411], [0.7433, 1.4451, 2.4304],
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[0.5007, 0.5007, 0.5007], [0.4587, 2.0875, 2.7544],
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[0.4450, 0.4450, 0.4450], [0.5514, 1.7206, 2.6811]],
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[[0.0000, 0.0000, 0.0000], [0.0000, 1.6464, 1.6952],
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[0.0000, 1.5125, 1.5125], [1.0915, 1.0915, 1.0915],
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[0.8197, 0.8511, 1.4894], [0.7433, 0.8082, 0.8082],
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[0.8955, 1.3340, 1.3340], [0.4730, 0.4730, 0.4730],
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[0.7949, 1.3325, 1.3325], [0.7566, 1.3727, 1.3727]]],
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device=device)
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expected_idx = torch.tensor(
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[[[0, 3, 4], [1, 2, 0], [2, 0, 3], [0, 3, 4], [2, 1, 0], [1, 2, 0],
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[0, 3, 4], [1, 2, 0], [0, 3, 4], [1, 2, 0]],
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[[0, 3, 4], [1, 2, 0], [2, 0, 3], [0, 3, 4], [2, 1, 0], [2, 0, 3],
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[1, 0, 3], [0, 3, 4], [1, 0, 3], [1, 0, 3]]],
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device=device)
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assert torch.allclose(dist, expected_dist, atol=1e-4)
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assert torch.all(idx == expected_idx)
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