def test(self):
print(f"{self.__class__.__name__}: test")
in_channels, out_channels, D = 2, 3, 2
coords, feats, labels = data_loader(in_channels)
feats = feats.double()
feats.requires_grad_()
input = SparseTensor(feats, coords=coords)
# Initialize context
conv = MinkowskiConvolution(in_channels,
out_channels,
kernel_size=3,
stride=2,
has_bias=True,
dimension=D)
conv = conv.double()
output = conv(input)
print(output)
kernel_map = input.coords_man.get_kernel_map(1,
2,
stride=2,
kernel_size=3)
print(kernel_map)
# Check backward
fn = MinkowskiConvolutionFunction()
self.assertTrue(
gradcheck(fn, (input.F, conv.kernel, input.tensor_stride,
conv.stride, conv.kernel_size, conv.dilation,
conv.region_type_, conv.region_offset_,
input.coords_key, None, input.coords_man)))
def test(self):
print(f"{self.__class__.__name__}: test")
in_channels, out_channels, D = 2, 3, 2
coords, feats, labels = data_loader(in_channels)
feats = feats.double()
feats.requires_grad_()
input = SparseTensor(feats, coordinates=coords)
# Initialize context
conv = MinkowskiConvolution(in_channels,
out_channels,
kernel_size=3,
stride=2,
bias=True,
dimension=D)
conv = conv.double()
output = conv(input)
print(output)
self.assertEqual(input.coordinate_map_key.get_tensor_stride(), [1, 1])
self.assertEqual(output.coordinate_map_key.get_tensor_stride(), [2, 2])
if torch.cuda.is_available():
input_gpu = SparseTensor(feats, coordinates=coords, device="cuda")
conv_gpu = conv.cuda()
output_gpu = conv_gpu(input_gpu)
self.assertTrue(
torch.allclose(output_gpu.F.var(0).cpu(), output.F.var(0)))
self.assertTrue(
torch.allclose(output_gpu.F.mean(0).cpu(), output.F.mean(0)))
# kernel_map = input.coords_man.kernel_map(
# 1, 2, stride=2, kernel_size=3)
# print(kernel_map)
# Check backward
fn = MinkowskiConvolutionFunction()
conv = conv.cpu()
self.assertTrue(
gradcheck(
fn,
(
input.F,
conv.kernel,
conv.kernel_generator,
conv.convolution_mode,
input.coordinate_map_key,
output.coordinate_map_key,
input.coordinate_manager,
),
))
for i in range(LEAK_TEST_ITER):
input = SparseTensor(feats, coordinates=coords)
conv(input).F.sum().backward()
def test_gpu(self):
print(f"{self.__class__.__name__}: test_gpu")
if not torch.cuda.is_available():
return
in_channels, out_channels, D = 3, 2, 2
coords, feats, labels = data_loader(in_channels, batch_size=20)
feats = feats.double()
feats.requires_grad_()
device = torch.device("cuda")
conv = (
MinkowskiConvolution(
in_channels,
out_channels,
kernel_size=2,
stride=1,
bias=False,
dimension=D,
)
.to(device)
.double()
)
# Initialize context
for mode in [_C.ConvolutionMode.DIRECT_GEMM, _C.ConvolutionMode.COPY_GEMM]:
conv.convolution_mode = mode
input = SparseTensor(feats, coordinates=coords, device=device)
print(mode, input.F.numel(), len(input), input)
output = conv(input)
print(output)
# Check backward
fn = MinkowskiConvolutionFunction()
grad = output.F.clone().zero_()
grad[0] = 1
output.F.backward(grad)
self.assertTrue(
gradcheck(
fn,
(
input.F,
conv.kernel,
conv.kernel_generator,
conv.convolution_mode,
input.coordinate_map_key,
None,
input.coordinate_manager,
),
)
)
def test_gpu(self):
print(f"{self.__class__.__name__}: test_gpu")
if not torch.cuda.is_available():
return
in_channels, out_channels, D = 2, 3, 2
coords, feats, labels = data_loader(in_channels)
feats = feats.double()
feats.requires_grad_()
# Initialize context
conv = MinkowskiConvolution(in_channels,
out_channels,
kernel_size=3,
stride=2,
bias=True,
dimension=D)
print(conv)
input = SparseTensor(feats, coordinates=coords)
conv = conv.double()
output = conv(input)
print(output)
device = torch.device("cuda")
input = SparseTensor(feats.to(device), coordinates=coords.to(device))
conv = conv.to(device)
output = conv(input)
print(output)
# Check backward
fn = MinkowskiConvolutionFunction()
grad = output.F.clone().zero_()
grad[0] = 1
output.F.backward(grad)
self.assertTrue(
gradcheck(
fn,
(
input.F,
conv.kernel,
conv.kernel_generator,
conv.convolution_mode,
input.coordinate_map_key,
None,
input.coordinate_manager,
),
))
def test_gpu(self):
print(f"{self.__class__.__name__}: test_gpu")
if not torch.cuda.is_available():
return
in_channels, out_channels, D = 2, 3, 2
coords, feats, labels = data_loader(in_channels)
feats = feats.double()
feats.requires_grad_()
input = SparseTensor(feats, coords=coords)
# Initialize context
conv = MinkowskiConvolution(in_channels,
out_channels,
kernel_size=3,
stride=2,
has_bias=True,
dimension=D)
print(conv)
conv = conv.double()
output = conv(input)
print(output)
device = torch.device('cuda')
input = input.to(device)
conv = conv.to(device)
output = conv(input)
print(output)
print(output.F, output.coords)
# Check backward
fn = MinkowskiConvolutionFunction()
grad = output.F.clone().zero_()
grad[0] = 1
output.F.backward(grad)
self.assertTrue(
gradcheck(fn, (input.F, conv.kernel, input.tensor_stride,
conv.stride, conv.kernel_size, conv.dilation,
conv.region_type_, conv.region_offset_,
input.coords_key, None, input.coords_man)))
def __init__(self, nchannels, spatial_sigma, chromatic_sigma,
meanfield_iterations, is_temporal, config, **kwargs):
D = 7 if is_temporal else 6
self.is_temporal = is_temporal
# Setup metadata
super(MeanField, self).__init__(nchannels, nchannels, config, D=D)
self.spatial_sigma = spatial_sigma
self.chromatic_sigma = chromatic_sigma
# temporal sigma is 1
self.meanfield_iterations = meanfield_iterations
self.pixel_dist = 1
self.stride = 1
self.dilation = 1
conv = MinkowskiConvolution(nchannels,
nchannels,
kernel_size=config.wrapper_kernel_size,
has_bias=False,
region_type=convert_region_type(
config.wrapper_region_type),
dimension=D)
# Create a region_offset
self.region_type_, self.region_offset_, _ = me_convert_region_type(
conv.region_type, 1, conv.kernel_size, conv.up_stride,
conv.dilation, conv.region_offset, conv.axis_types, conv.dimension)
# Check whether the mapping is required
self.requires_mapping = False
self.conv = conv
self.kernel = conv.kernel
self.convs = {}
self.softmaxes = {}
for i in range(self.meanfield_iterations):
self.softmaxes[i] = nn.Softmax(dim=1)
self.convs[i] = MinkowskiConvolutionFunction()
