def _single_input_forward()

in models/base_ssl3d_model.py [0:0]

• 21 lines of code
• 8 McCabe index (conditional complexity)

    def _single_input_forward(self, batch, feature_names, input_key, target):
        if "vox" not in input_key:
            assert isinstance(batch, torch.Tensor)

        if ('vox' in input_key) and ("Lidar" not in self.config):
            points = batch
            points_coords = points[0]
            points_feats = points[1]

            ### Invariant to even and odd coords
            points_coords[:, 1:] += (torch.rand(3) * 100).type_as(points_coords)
            points_feats = points_feats/255.0 - 0.5

            batch = SparseTensor(points_feats, points_coords.float())

        if ('vox' in input_key) and ("Lidar" in self.config):
            # Copy to GPU
            for key in batch:
                batch[key] = main_utils.recursive_copy_to_gpu(
                    batch[key], non_blocking=True
                )
        else:
            # Copy to GPU
            batch = main_utils.recursive_copy_to_gpu(
                batch, non_blocking=True
            )
        
        feats = self.trunk[target](batch, feature_names)
        return feats