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# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the BSD-style license found in the
# LICENSE file in the root directory of this source tree.
from fvcore.common.benchmark import benchmark
from tests.test_se3 import TestSE3
def bm_se3() -> None:
kwargs_list = [
{"batch_size": 1},
{"batch_size": 10},
{"batch_size": 100},
{"batch_size": 1000},
]
benchmark(TestSE3.se3_expmap, "SE3_EXP", kwargs_list, warmup_iters=1)
benchmark(TestSE3.se3_logmap, "SE3_LOG", kwargs_list, warmup_iters=1)
if __name__ == "__main__":
bm_se3()
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