speed up PFNLayer

pcdet/models/backbones_3d/vfe/pillar_vfe.py

@@ -3,6 +3,7 @@ import torch.nn as nn
 import torch.nn.functional as F
 from .vfe_template import VFETemplate
 
+
 class PFNLayer(nn.Module):
     def __init__(self,
                  in_channels,
@@ -28,12 +29,14 @@ class PFNLayer(nn.Module):
         if inputs.shape[0] > self.part:
             # nn.Linear performs randomly when batch size is too large
             num_parts = inputs.shape[0] // self.part
-            part_linear_out = [self.linear(inputs[num_part*self.part:(num_part+1)*self.part]) for num_part in range(num_parts+1)]
+            part_linear_out = [self.linear(inputs[num_part*self.part:(num_part+1)*self.part])
+                               for num_part in range(num_parts+1)]
             x = torch.cat(part_linear_out, dim=0)
         else:
             x = self.linear(inputs)
-        total_points, voxel_points, channels = x.shape
-        x = self.norm(x.view(-1, channels)).view(total_points, voxel_points, channels) if self.use_norm else x
+        torch.backends.cudnn.enabled = False
+        x = self.norm(x.permute(0, 2, 1)).permute(0, 2, 1) if self.use_norm else x
+        torch.backends.cudnn.enabled = True
         x = F.relu(x)
         x_max = torch.max(x, dim=1, keepdim=True)[0]
 
@@ -44,6 +47,7 @@ class PFNLayer(nn.Module):
             x_concatenated = torch.cat([x, x_repeat], dim=2)
             return x_concatenated
 
+
 class PillarVFE(VFETemplate):
     def __init__(self, model_cfg, num_point_features, voxel_size, point_cloud_range):
         super().__init__(model_cfg=model_cfg)