def test_feature_grids_to_spc(self, sparse_feature_grids,
expected_out_feature_grids, device):
octrees, lengths, features = feature_grids_to_spc(sparse_feature_grids)
assert octrees.device.type == device
assert features.device.type == device
octrees = octrees.cuda()
features = features.cuda()
max_level, pyramids, exsum = scan_octrees(octrees, lengths)
point_hierarchies = generate_points(octrees, pyramids, exsum)
out_feature_grids = to_dense(point_hierarchies, pyramids, features,
max_level)
assert torch.equal(out_feature_grids, expected_out_feature_grids)
def test_zeros(self, batch_size, feature_dim, height, width, depth, dtype,
device):
feature_grids = torch.zeros(
(batch_size, feature_dim, height, width, depth),
dtype=dtype,
device=device)
octrees, lengths, features = feature_grids_to_spc(feature_grids)
assert torch.equal(
octrees, torch.zeros((batch_size),
dtype=torch.uint8,
device=device))
assert torch.equal(
lengths, torch.ones((batch_size), dtype=torch.int, device='cpu'))
assert torch.equal(
features, torch.empty((0, feature_dim), dtype=dtype,
device=device))
def test_ones(self, batch_size, feature_dim, height, width, depth, dtype,
device):
feature_grids = torch.ones(
(batch_size, feature_dim, height, width, depth),
dtype=dtype,
device=device)
octrees, lengths, features = feature_grids_to_spc(feature_grids)
assert octrees.device.type == device
assert features.device.type == device
octrees = octrees.cuda()
features = features.cuda()
max_level, pyramids, exsum = scan_octrees(octrees, lengths)
point_hierarchies = generate_points(octrees, pyramids, exsum)
out_feature_grids = to_dense(point_hierarchies, pyramids, features,
max_level)
assert torch.all(out_feature_grids[:, :, :height, :width, :depth] == 1)
assert torch.all(out_feature_grids[:, :, height:] == 0)
assert torch.all(out_feature_grids[:, :, :, width:] == 0)
assert torch.all(out_feature_grids[..., depth:] == 0)
def test_to_dense(self, batch_size, max_level, feature_dim):
octrees, lengths = random_spc_octrees(batch_size, max_level, 'cuda')
max_level, pyramids, exsum = scan_octrees(octrees, lengths)
point_hierarchies = generate_points(octrees, pyramids, exsum)
in_num_nodes = torch.sum(pyramids[:, 0, -2])
coalescent_features = torch.rand((in_num_nodes, feature_dim),
device='cuda',
requires_grad=True)
expected_size = 2**max_level
feat_idx = []
bs_start_idx = 0
for bs in range(batch_size):
start_idx = pyramids[bs, 1, -2] + bs_start_idx
num_points = pyramids[bs, 0, -2]
feat_idx.append(
torch.nn.functional.pad(point_hierarchies[start_idx:start_idx +
num_points], (1, 0),
value=bs))
bs_start_idx += pyramids[bs, 1, -1]
feat_idx = torch.cat(feat_idx, dim=0).permute(1, 0).long()
expected_feature_grids = torch.zeros(
(batch_size, feature_dim, expected_size, expected_size,
expected_size),
device='cuda')
expected_feature_grids[feat_idx[0], :, feat_idx[1], feat_idx[2],
feat_idx[3]] = coalescent_features
# test forward
feature_grids = to_dense(point_hierarchies, pyramids,
coalescent_features, max_level)
assert torch.equal(expected_feature_grids, feature_grids)
grad_out = torch.rand_like(feature_grids)
feature_grids.backward(grad_out)
octrees, lengths, coalescent_expected_grad = feature_grids_to_spc(
grad_out, torch.any(feature_grids != 0, dim=1))
assert torch.equal(coalescent_features.grad, coalescent_expected_grad)
def octrees_lengths_features(self, feature_grids, sparsity_masks):
return spc.feature_grids_to_spc(feature_grids, sparsity_masks)
def test_conv_transpose3d(self, height, width, depth, in_channels,
out_channels, sparsity_masks, dense_weight, bias,
octrees, lengths, max_level, pyramids, exsum,
point_hierarchies, kernel_vectors, kernel_size,
kernel_offset, spc_weight, jump,
with_spc_to_dict):
stride = 2**jump
if stride > kernel_size:
pytest.skip('stride higher than kernel_size is not tested')
out_sparsity_masks = sparsity_masks
in_level = max_level - jump
in_num_nodes = torch.sum(pyramids[:, 0, -(2 + jump)])
coalescent_features = torch.rand((in_num_nodes, in_channels),
device='cuda',
requires_grad=True)
dense_weight = dense_weight.detach()
dense_weight.requires_grad = True
spc_weight = spc_weight.detach()
spc_weight.requires_grad = True
if with_spc_to_dict:
input_spc = Spc(octrees, lengths)
feature_grids = spc.to_dense(**input_spc.to_dict(),
input=coalescent_features,
level=in_level)
else:
feature_grids = spc.to_dense(point_hierarchies, pyramids,
coalescent_features, in_level)
feature_grids = feature_grids[:, :, :math.ceil(height / stride), :math.
ceil(width / stride), :math.ceil(depth /
stride)]
feature_grids = feature_grids.detach()
feature_grids.requires_grad = True
if with_spc_to_dict:
sparsity_masks = spc.to_dense(**input_spc.to_dict(),
input=torch.ones_like(
coalescent_features),
level=in_level).bool()
else:
sparsity_masks = spc.to_dense(point_hierarchies, pyramids,
torch.ones_like(coalescent_features),
in_level).bool()
sparsity_masks = sparsity_masks[:,
0, :math.ceil(height / stride), :math.
ceil(width /
stride), :math.ceil(depth /
stride)]
# test forward
if with_spc_to_dict:
output_features, output_level = spc.conv_transpose3d(
**input_spc.to_dict(),
level=in_level,
input=coalescent_features,
weight=spc_weight,
kernel_vectors=kernel_vectors,
jump=jump,
bias=bias)
output = spc.to_dense(**input_spc.to_dict(),
input=output_features,
level=output_level)
else:
output_features, output_level = spc.conv_transpose3d(
octrees,
point_hierarchies,
in_level,
pyramids,
exsum,
coalescent_features,
spc_weight,
kernel_vectors,
jump=jump,
bias=bias)
output = spc.to_dense(point_hierarchies, pyramids, output_features,
output_level)
output = output[:, :, :height, :width, :depth]
expected_output = torch.nn.functional.conv_transpose3d(
feature_grids,
dense_weight.permute(1, 0, 2, 3, 4),
stride=stride,
bias=bias,
output_padding=stride - 1)[:, :,
kernel_offset:height + kernel_offset,
kernel_offset:width + kernel_offset,
kernel_offset:depth + kernel_offset]
expected_output *= out_sparsity_masks.unsqueeze(1)
assert output_level == max_level
assert torch.allclose(output, expected_output, rtol=1e-3, atol=1e-3)
# test backward
grad_out = torch.rand_like(expected_output)
expected_output.backward(grad_out)
output.backward(grad_out)
_, _, sparsified_grad = spc.feature_grids_to_spc(
feature_grids.grad, sparsity_masks)
assert torch.allclose(coalescent_features.grad,
sparsified_grad,
rtol=5e-2,
atol=5e-2)
assert torch.allclose(spc_weight.grad,
dense_weight.grad.reshape(
out_channels, in_channels,
-1).permute(2, 1, 0),
rtol=5e-2,
atol=5e-2)
def test_conv3d(self, height, width, depth, in_channels, out_channels,
kernel_size, feature_grids, sparsity_masks, dense_weight,
bias, octrees, lengths, coalescent_features, max_level,
pyramids, exsum, point_hierarchies, kernel_vectors,
kernel_offset, spc_weight, jump, with_spc_to_dict):
stride = 2**jump
coalescent_features = coalescent_features.detach()
coalescent_features.requires_grad = True
spc_weight = spc_weight.detach()
spc_weight.requires_grad = True
if with_spc_to_dict:
input_spc = Spc(octrees, lengths)
output_features, output_level = spc.conv3d(
**input_spc.to_dict(),
level=input_spc.max_level,
input=coalescent_features,
weight=spc_weight,
kernel_vectors=kernel_vectors,
jump=jump,
bias=bias)
output = spc.to_dense(**input_spc.to_dict(),
input=output_features,
level=output_level)
output_sparsity_masks = spc.to_dense(**input_spc.to_dict(),
input=torch.ones_like(
output_features,
requires_grad=False),
level=output_level)
else:
output_features, output_level = spc.conv3d(octrees,
point_hierarchies,
max_level,
pyramids,
exsum,
coalescent_features,
spc_weight,
kernel_vectors,
jump=jump,
bias=bias)
output = spc.to_dense(point_hierarchies, pyramids, output_features,
output_level)
output_sparsity_masks = spc.to_dense(
point_hierarchies, pyramids,
torch.ones_like(output_features, requires_grad=False),
output_level)
feature_grids = feature_grids.detach()
feature_grids.requires_grad = True
dense_weight = dense_weight.detach()
dense_weight.requires_grad = True
padded_input = torch.nn.functional.pad(
feature_grids, (kernel_offset, kernel_size - 1 - kernel_offset,
kernel_offset, kernel_size - 1 - kernel_offset,
kernel_offset, kernel_size - 1 - kernel_offset))
expected_output = torch.nn.functional.conv3d(padded_input,
dense_weight,
stride=stride,
bias=bias)
expected_height, expected_width, expected_depth = expected_output.shape[
2:]
expected_output *= output_sparsity_masks[:, :, :expected_height, :
expected_width, :
expected_depth]
assert torch.allclose(
output[:, :, :expected_height, :expected_width, :expected_depth],
expected_output,
atol=1e-3,
rtol=1e-3)
grad_output = torch.rand_like(output)
output.backward(grad_output)
expected_output.backward(grad_output[:, :, :expected_height, :
expected_width, :expected_depth])
_, _, sparsified_grad = spc.feature_grids_to_spc(
feature_grids.grad, sparsity_masks)
assert torch.allclose(coalescent_features.grad,
sparsified_grad,
rtol=1e-3,
atol=1e-3)
assert torch.allclose(spc_weight.grad,
dense_weight.grad.reshape(
out_channels, in_channels,
-1).permute(2, 1, 0),
rtol=5e-2,
atol=5e-2)
