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41 lines
1.3 KiB
Python
41 lines
1.3 KiB
Python
# Copyright (c) Alibaba, Inc. and its affiliates.
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import unittest
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import numpy as np
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from modelscope.outputs import OutputKeys
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from modelscope.pipelines import pipeline
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from modelscope.utils.constant import Tasks
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from modelscope.utils.test_utils import test_level
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class PointCloudSceneFlowEstimationTest(unittest.TestCase):
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def setUp(self) -> None:
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self.task = 'pointcloud-sceneflow-estimation'
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self.model_id = 'damo/cv_pointnet2_sceneflow-estimation_general'
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@unittest.skipUnless(test_level() >= 0, 'skip test in current test level')
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def test_pointcloud_scenelfow_estimation(self):
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input_location = ('data/test/pointclouds/flyingthings_pcd1.npy',
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'data/test/pointclouds/flyingthings_pcd2.npy')
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estimator = pipeline(
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Tasks.pointcloud_sceneflow_estimation, model=self.model_id)
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result = estimator(input_location)
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flow = result[OutputKeys.OUTPUT]
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pcd12 = result[OutputKeys.PCD12]
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pcd12_align = result[OutputKeys.PCD12_ALIGN]
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print(f'pred flow shape:{flow.shape}')
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np.save('flow.npy', flow)
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# visualization
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pcd12.write('pcd12.ply')
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pcd12_align.write('pcd12_align.ply')
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print('test_pointcloud_scenelfow_estimation DONE')
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if __name__ == '__main__':
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unittest.main()
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