71 lines
2.2 KiB
Python
71 lines
2.2 KiB
Python
import time
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import chamfer2D.dist_chamfer_2D
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import chamfer3D.dist_chamfer_3D
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import chamfer5D.dist_chamfer_5D
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import chamfer_python
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import torch
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cham2D = chamfer2D.dist_chamfer_2D.chamfer_2DDist()
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cham3D = chamfer3D.dist_chamfer_3D.chamfer_3DDist()
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cham5D = chamfer5D.dist_chamfer_5D.chamfer_5DDist()
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from fscore import fscore
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from torch.autograd import Variable
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def test_chamfer(distChamfer, dim):
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points1 = torch.rand(4, 100, dim).cuda()
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points2 = torch.rand(4, 200, dim, requires_grad=True).cuda()
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dist1, dist2, idx1, idx2 = distChamfer(points1, points2)
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loss = torch.sum(dist1)
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loss.backward()
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mydist1, mydist2, myidx1, myidx2 = chamfer_python.distChamfer(points1, points2)
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d1 = (dist1 - mydist1) ** 2
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d2 = (dist2 - mydist2) ** 2
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assert (
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torch.mean(d1) + torch.mean(d2) < 0.00000001
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), "chamfer cuda and chamfer normal are not giving the same results"
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xd1 = idx1 - myidx1
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xd2 = idx2 - myidx2
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assert (
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torch.norm(xd1.float()) + torch.norm(xd2.float()) == 0
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), "chamfer cuda and chamfer normal are not giving the same results"
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print("fscore :", fscore(dist1, dist2))
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print("Unit test passed")
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def timings(distChamfer, dim):
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p1 = torch.rand(32, 2000, dim).cuda()
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p2 = torch.rand(32, 1000, dim).cuda()
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print("Timings : Start CUDA version")
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start = time.time()
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num_it = 100
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for i in range(num_it):
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points1 = Variable(p1, requires_grad=True)
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points2 = Variable(p2)
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mydist1, mydist2, idx1, idx2 = distChamfer(points1, points2)
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loss = torch.sum(mydist1)
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loss.backward()
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print(f"Ellapsed time forward backward is {(time.time() - start)/num_it} seconds.")
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print("Timings : Start Pythonic version")
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start = time.time()
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for i in range(num_it):
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points1 = Variable(p1, requires_grad=True)
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points2 = Variable(p2)
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mydist1, mydist2, idx1, idx2 = chamfer_python.distChamfer(points1, points2)
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loss = torch.sum(mydist1)
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loss.backward()
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print(f"Ellapsed time forward backward is {(time.time() - start)/num_it} seconds.")
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dims = [2, 3, 5]
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for i, cham in enumerate([cham2D, cham3D, cham5D]):
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print(f"testing Chamfer {dims[i]}D")
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test_chamfer(cham, dims[i])
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timings(cham, dims[i])
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