def METHOD_NAME(self):
    pcl_filenames = [
        os.path.join(self.test_data, "infer_data", "seq08_f000000.bin"),
        os.path.join(self.test_data, "infer_data", "seq08_f000010.bin"),
    ]
    point_clouds = [SemanticKittiDataset.load_point_cloud(f) for f in pcl_filenames]
    for point_cloud in point_clouds:
        self.assertIsInstance(point_cloud, PointCloud)
    learner = EfficientLpsLearner(self.config_file)
    learner.load(self.model_weights)
    predictions = learner.infer(point_clouds, projected=True)
    for prediction in predictions:
        self.assertIsInstance(prediction[0], Heatmap)
        self.assertIsInstance(prediction[1], Heatmap)
        self.assertIsInstance(prediction[2], Image)
    predictions = learner.infer(point_clouds, projected=False)
    for prediction in predictions:
        self.assertIsInstance(prediction[0], np.ndarray)
        self.assertIsInstance(prediction[1], np.ndarray)
        self.assertIsNone(prediction[2])