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test_speed.py
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test_speed.py
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import os
import random
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
import argparse
import time
import pdb
from torch.utils.data import DataLoader
from torch.utils.data.distributed import DistributedSampler
import datasets
from utils.metric import MultiClassMetric
from models import *
import tqdm
import importlib
import torch.backends.cudnn as cudnn
cudnn.benchmark = True
cudnn.enabled = True
def main(args, config):
# parsing cfg
pGen, pDataset, pModel, pOpt = config.get_config()
prefix = pGen.name
save_path = os.path.join("experiments", prefix)
model_prefix = os.path.join(save_path, "checkpoint")
#define dataloader
val_dataset = eval('datasets.{}.DataloadVal'.format(pDataset.Val.data_src))(pDataset.Val)
val_loader = DataLoader(val_dataset, batch_size=1, num_workers=4)
val_loader = iter(val_loader)
#define model
model = eval(pModel.prefix)(pModel)
model.eval()
model.cuda()
pytorch_total_params = sum(p.numel() for p in model.parameters() if p.requires_grad)
print("Number of parameters: {} ".format(pytorch_total_params / 1000000) + "M")
pcds_xyzi, pcds_coord, pcds_sphere_coord, pcds_target, _ = val_loader.next()
# pcds_xyzi = pcds_xyzi[0, [0]].contiguous().cuda()
# pcds_coord = pcds_coord[0, [0]].contiguous().cuda()
# pcds_sphere_coord = pcds_sphere_coord[0, [0]].contiguous().cuda()
pcds_xyzi = pcds_xyzi.contiguous().cuda()
pcds_coord = pcds_coord.contiguous().cuda()
pcds_sphere_coord = pcds_sphere_coord.contiguous().cuda()
# pdb.set_trace()
time_cost = []
with torch.no_grad():
for i in range(1000):
start = time.time()
pred_cls = model.infer(pcds_xyzi, pcds_coord, pcds_sphere_coord)
torch.cuda.synchronize()
end = time.time()
time_cost.append(end - start)
print('Time: ', np.array(time_cost[20:]).mean())
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='lidar segmentation')
parser.add_argument('--config', help='config file path', default='config/wce.py', type=str)
args = parser.parse_args()
config = importlib.import_module(args.config.replace('.py', '').replace('/', '.'))
main(args, config)