mirror of https://github.com/open-mmlab/mmcv.git
62 lines
2.2 KiB
Python
62 lines
2.2 KiB
Python
import numpy as np
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import pytest
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import torch
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from mmcv.ops import Voxelization
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def _get_voxel_points_indices(points, coors, voxel):
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result_form = np.equal(coors, voxel)
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return result_form[:, 0] & result_form[:, 1] & result_form[:, 2]
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@pytest.mark.parametrize('device_type', [
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'cpu',
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pytest.param(
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'cuda:0',
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marks=pytest.mark.skipif(
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not torch.cuda.is_available(), reason='requires CUDA support'))
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])
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def test_voxelization(device_type):
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voxel_size = [0.5, 0.5, 0.5]
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point_cloud_range = [0, -40, -3, 70.4, 40, 1]
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voxel_dict = np.load(
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'tests/data/for_3d_ops/test_voxel.npy', allow_pickle=True).item()
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expected_coors = voxel_dict['coors']
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expected_voxels = voxel_dict['voxels']
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expected_num_points_per_voxel = voxel_dict['num_points_per_voxel']
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points = voxel_dict['points']
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points = torch.tensor(points)
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max_num_points = -1
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dynamic_voxelization = Voxelization(voxel_size, point_cloud_range,
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max_num_points)
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max_num_points = 1000
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hard_voxelization = Voxelization(voxel_size, point_cloud_range,
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max_num_points)
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device = torch.device(device_type)
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# test hard_voxelization on cpu/gpu
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points = points.contiguous().to(device)
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coors, voxels, num_points_per_voxel = hard_voxelization.forward(points)
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coors = coors.cpu().detach().numpy()
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voxels = voxels.cpu().detach().numpy()
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num_points_per_voxel = num_points_per_voxel.cpu().detach().numpy()
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assert np.all(coors == expected_coors)
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assert np.all(voxels == expected_voxels)
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assert np.all(num_points_per_voxel == expected_num_points_per_voxel)
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# test dynamic_voxelization on cpu/gpu
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coors = dynamic_voxelization.forward(points)
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coors = coors.cpu().detach().numpy()
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points = points.cpu().detach().numpy()
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for i in range(expected_voxels.shape[0]):
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indices = _get_voxel_points_indices(points, coors, expected_voxels[i])
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num_points_current_voxel = points[indices].shape[0]
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assert num_points_current_voxel > 0
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assert np.all(
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points[indices] == expected_coors[i][:num_points_current_voxel])
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assert num_points_current_voxel == expected_num_points_per_voxel[i]
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