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import numpy as np
import unittest
import time
import torch
import MinkowskiEngineTest._C
from utils import load_file, batched_coordinates
class CoordinateMapTestCase(unittest.TestCase):
def test_batch_insert(self):
coordinates = torch.IntTensor([[0, 1], [1, 2], [2, 3], [2, 3]])
num, _ = MinkowskiEngineTest._C.coordinate_map_batch_insert_test(coordinates)
self.assertEqual(num, 3)
def test_inverse_map(self):
coordinates = torch.IntTensor([[0, 1], [1, 2], [2, 3], [2, 3]])
(
mapping_inverse_mapping,
time,
) = MinkowskiEngineTest._C.coordinate_map_inverse_test(coordinates)
mapping, inverse_mapping = mapping_inverse_mapping
self.assertTrue(
torch.all(coordinates == coordinates[mapping][inverse_mapping])
)
def test_pcd_insert(self):
coords, colors, pcd = load_file("1.ply")
BATCH_SIZE = 1
voxel_size = 0.02
bcoords = [np.floor(coords / voxel_size) for i in range(BATCH_SIZE)]
bcoords = batched_coordinates(bcoords)
num, t = MinkowskiEngineTest._C.coordinate_map_batch_insert_test(bcoords)
self.assertEqual(num, 161890)
for batch_size in [1, 2, 4, 8, 16, 20, 40, 80, 160, 320]:
for voxel_size in [0.02]:
min_time = 1000
dcoords = torch.from_numpy(np.floor(coords / voxel_size)).int()
bcoords = batched_coordinates([dcoords for i in range(batch_size)])
for i in range(10):
s = time.time()
num, t = MinkowskiEngineTest._C.coordinate_map_batch_insert_test(
bcoords
)
min_time = min(time.time() - s, min_time)
print(f"{len(bcoords)}\t{num}\t{min_time}\t{t}")
def test_batch_find(self):
coordinates = torch.IntTensor([[0, 1], [1, 2], [2, 3], [2, 3]])
queries = torch.IntTensor([[-1, 1], [1, 2], [2, 3], [2, 3], [0, 0]])
(
valid_query_index,
query_value,
) = MinkowskiEngineTest._C.coordinate_map_batch_find_test(coordinates, queries)
self.assertEqual(len(valid_query_index), len(query_value))
self.assertEqual(len(valid_query_index), 3)
self.assertEqual(valid_query_index[0], 1)
self.assertEqual(valid_query_index[1], 2)
self.assertEqual(valid_query_index[2], 3)
self.assertEqual(query_value[0], 1)
self.assertEqual(query_value[1], 2)
self.assertEqual(query_value[2], 2)
def test_stride(self):
coordinates = torch.IntTensor([[0, 1], [0, 2], [0, 3], [0, 3]])
stride = [1]
with self.assertRaises(TypeError):
MinkowskiEngineTest._C.coordinate_map_stride_test(coordinates, stride)
stride = torch.IntTensor([-1])
with self.assertRaises(RuntimeError):
MinkowskiEngineTest._C.coordinate_map_stride_test(coordinates, stride)
stride = torch.IntTensor([1, 1])
with self.assertRaises(RuntimeError):
MinkowskiEngineTest._C.coordinate_map_stride_test(coordinates, stride)
stride = torch.IntTensor([2])
map_size, tensor_stride = MinkowskiEngineTest._C.coordinate_map_stride_test(
coordinates, stride
)
self.assertEqual(map_size, 2)
self.assertEqual(tensor_stride, [2])
coordinates = torch.IntTensor(
[[0, 1, 1], [0, 2, 1], [0, 1, 0], [1, 0, 3], [1, 0, 2]]
)
stride = torch.IntTensor([1])
with self.assertRaises(RuntimeError):
MinkowskiEngineTest._C.coordinate_map_stride_test(coordinates, stride)
coordinates = torch.IntTensor(
[[0, 1, 1], [0, 2, 1], [0, 1, 0], [1, 0, 3], [1, 0, 2]]
)
stride = torch.IntTensor([1, 1])
map_size, tensor_stride = MinkowskiEngineTest._C.coordinate_map_stride_test(
coordinates, stride
)
self.assertEqual(map_size, 5)
self.assertEqual(tensor_stride, [1, 1])
stride = torch.IntTensor([2, 1])
map_size, tensor_stride = MinkowskiEngineTest._C.coordinate_map_stride_test(
coordinates, stride
)
self.assertEqual(map_size, 5)
self.assertEqual(tensor_stride, [2, 1])
stride = torch.IntTensor([4, 4])
map_size, tensor_stride = MinkowskiEngineTest._C.coordinate_map_stride_test(
coordinates, stride
)
self.assertEqual(map_size, 2)
self.assertEqual(tensor_stride, [4, 4])
coordinates = torch.IntTensor([[0, -1], [0, -2], [0, 1], [0, 0]])
stride = torch.IntTensor([2])
map_size, tensor_stride = MinkowskiEngineTest._C.coordinate_map_stride_test(
coordinates, stride
)
self.assertEqual(map_size, 2)
self.assertEqual(tensor_stride, [2])
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