def evaluate(loader, generator):
ade_outer, fde_outer = [], []
total_traj = 0
with torch.no_grad():
for batch in loader:
batch = [tensor.cuda() for tensor in batch]
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel, vgg_list) = batch
ade, fde = [], []
total_traj += pred_traj_gt.size(1)
for _ in range(NUM_SAMPLES):
pred_traj_fake_rel = generator(obs_traj, obs_traj_rel, vgg_list)
pred_traj_fake = relative_to_abs(pred_traj_fake_rel, obs_traj[-1, :, 0, :])
ade.append(displacement_error(pred_traj_fake, pred_traj_gt, mode='raw'))
fde.append(final_displacement_error(pred_traj_fake[-1], pred_traj_gt[-1], mode='raw'))
ade_sum = evaluate_helper(ade)
fde_sum = evaluate_helper(fde)
ade_outer.append(ade_sum)
fde_outer.append(fde_sum)
ade = sum(ade_outer) / (total_traj * PRED_LEN)
fde = sum(fde_outer) / (total_traj)
return ade, fde
def evaluate(loader, generator, num_samples):
ade_outer, fde_outer, simulated_output, total_traj, sequences = [], [], [], [], []
with torch.no_grad():
for batch in loader:
if USE_GPU:
batch = [tensor.cuda() for tensor in batch]
else:
batch = [tensor for tensor in batch]
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel, loss_mask, seq_start_end, obs_ped_speed, pred_ped_speed) = batch
ade, fde, sim_op = [], [], []
total_traj.append(pred_traj_gt.size(1))
for _ in range(num_samples):
if TEST_METRIC:
pred_traj_fake_rel = generator(obs_traj, obs_traj_rel, seq_start_end, obs_ped_speed, pred_ped_speed, pred_traj_gt,
TEST_METRIC, SPEED_TO_ADD)
else:
pred_traj_fake_rel = generator(obs_traj, obs_traj_rel, seq_start_end, obs_ped_speed,
pred_ped_speed, pred_traj_gt, TEST_METRIC, SPEED_TO_ADD)
pred_traj_fake = relative_to_abs(pred_traj_fake_rel, obs_traj[-1])
ade.append(displacement_error(pred_traj_fake, pred_traj_gt, mode='raw'))
fde.append(final_displacement_error(pred_traj_fake[-1], pred_traj_gt[-1], mode='raw'))
sim_op.append(pred_traj_fake)
for _, (start, end) in enumerate(seq_start_end):
num_ped = end - start
sequences.append(num_ped)
ade_outer.append(evaluate_helper(torch.stack(ade, dim=1), seq_start_end))
fde_outer.append(evaluate_helper(torch.stack(fde, dim=1), seq_start_end))
simulated_output.append(torch.cat(sim_op, dim=0))
ade = sum(ade_outer) / (sum(total_traj) * PRED_LEN)
fde = sum(fde_outer) / (sum(total_traj))
simulated_traj_for_visualization = torch.cat(simulated_output, dim=1)
sequences = torch.cumsum(torch.stack(sequences, dim=0), dim=0)
if TEST_METRIC and VERIFY_OUTPUT_SPEED:
# The speed can be verified for different sequences and this method runs for n number of batches.
verify_speed(simulated_traj_for_visualization, sequences)
if ANIMATED_VISUALIZATION_CHECK:
# Trajectories at User-defined speed for Visualization
with open('SimulatedTraj.pkl', 'wb') as f:
pickle.dump(simulated_traj_for_visualization, f, pickle.HIGHEST_PROTOCOL)
# Sequence list file used for Visualization
with open('Sequences.pkl', 'wb') as f:
pickle.dump(sequences, f, pickle.HIGHEST_PROTOCOL)
return ade, fde
def check_accuracy(loader, generator, discriminator, d_loss_fn):
d_losses = []
metrics = {}
g_l2_losses_abs, g_l2_losses_rel = ([], ) * 2
disp_error, f_disp_error, mean_speed_disp_error, final_speed_disp_error = [], [], [], []
total_traj = 0
loss_mask_sum = 0
generator.eval()
with torch.no_grad():
for batch in loader:
if USE_GPU:
batch = [tensor.cuda() for tensor in batch]
else:
batch = [tensor for tensor in batch]
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel, loss_mask,
seq_start_end, obs_ped_speed, pred_ped_speed) = batch
pred_traj_fake_rel = generator(obs_traj, obs_traj_rel,
seq_start_end, obs_ped_speed,
pred_ped_speed, pred_traj_gt,
TRAIN_METRIC, SPEED_TO_ADD)
pred_traj_fake = relative_to_abs(pred_traj_fake_rel, obs_traj[-1])
loss_mask = loss_mask[:, OBS_LEN:]
g_l2_loss_abs, g_l2_loss_rel = cal_l2_losses(
pred_traj_gt, pred_traj_gt_rel, pred_traj_fake,
pred_traj_fake_rel, loss_mask)
ade = displacement_error(pred_traj_gt, pred_traj_fake)
fde = final_displacement_error(pred_traj_gt, pred_traj_fake)
last_pos = obs_traj[-1]
traj_for_speed_cal = torch.cat(
[last_pos.unsqueeze(dim=0), pred_traj_fake], dim=0)
msae = cal_msae(pred_ped_speed, traj_for_speed_cal)
fse = cal_fse(pred_ped_speed[-1], pred_traj_fake)
traj_real = torch.cat([obs_traj, pred_traj_gt], dim=0)
traj_real_rel = torch.cat([obs_traj_rel, pred_traj_gt_rel], dim=0)
traj_fake = torch.cat([obs_traj, pred_traj_fake], dim=0)
traj_fake_rel = torch.cat([obs_traj_rel, pred_traj_fake_rel],
dim=0)
ped_speed = torch.cat([obs_ped_speed, pred_ped_speed], dim=0)
scores_fake = discriminator(traj_fake, traj_fake_rel, ped_speed,
seq_start_end)
scores_real = discriminator(traj_real, traj_real_rel, ped_speed,
seq_start_end)
d_loss = d_loss_fn(scores_real, scores_fake)
d_losses.append(d_loss.item())
g_l2_losses_abs.append(g_l2_loss_abs.item())
g_l2_losses_rel.append(g_l2_loss_rel.item())
disp_error.append(ade.item())
f_disp_error.append(fde.item())
mean_speed_disp_error.append(msae.item())
final_speed_disp_error.append(fse.item())
loss_mask_sum += torch.numel(loss_mask.data)
total_traj += pred_traj_gt.size(1)
if total_traj >= NUM_SAMPLE_CHECK:
break
metrics['d_loss'] = sum(d_losses) / len(d_losses)
metrics['g_l2_loss_abs'] = sum(g_l2_losses_abs) / loss_mask_sum
metrics['g_l2_loss_rel'] = sum(g_l2_losses_rel) / loss_mask_sum
metrics['ade'] = sum(disp_error) / (total_traj * PRED_LEN)
metrics['fde'] = sum(f_disp_error) / total_traj
metrics['msae'] = sum(mean_speed_disp_error) / (total_traj * PRED_LEN)
metrics['fse'] = sum(final_speed_disp_error) / total_traj
generator.train()
return metrics
def eval(epoch, data_loader=test_loader):
t = time.time()
loss_eval = 0.0
model.eval()
if args.mode == 'eval':
model.load_state_dict(torch.load(best_model_file))
else:
model.load_state_dict(torch.load(model_file))
if args.encoder == 'nmp':
loss_eval = nmp_iter_one_epoch(data_loader,
epoch=epoch,
is_training=False)
v_pred_centers = np.load(
os.path.join(save_folder, 'test_v_pred_centers.npy'))
v_target_centers = np.load(
os.path.join(save_folder, 'test_v_target_centers.npy'))
h_pred_centers = np.load(
os.path.join(save_folder, 'test_h_pred_centers.npy'))
h_target_centers = np.load(
os.path.join(save_folder, 'test_h_target_centers.npy'))
m_pred_centers = np.load(
os.path.join(save_folder, 'test_m_pred_centers.npy'))
m_target_centers = np.load(
os.path.join(save_folder, 'test_m_target_centers.npy'))
v_displacement_error = displacement_error(v_pred_centers,
v_target_centers)
h_displacement_error = displacement_error(h_pred_centers,
h_target_centers)
m_displacement_error = displacement_error(m_pred_centers,
m_target_centers)
v_f_displacement_error = final_displacement_error(
v_pred_centers, v_target_centers)
h_f_displacement_error = final_displacement_error(
h_pred_centers, h_target_centers)
m_f_displacement_error = final_displacement_error(
m_pred_centers, m_target_centers)
print(
'Epoch: {:04d}'.format(epoch),
'V_Dis_Error: {:.04f}/{:.04f}'.format(v_displacement_error,
v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(h_displacement_error,
h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(m_displacement_error,
m_f_displacement_error))
print('Epoch: {:04d}'.format(epoch),
'V_Dis_Error: {:.04f}/{:.04f}'.format(v_displacement_error,
v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(h_displacement_error,
h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(m_displacement_error,
m_f_displacement_error),
file=log)
test_pred_centers = np.load(
os.path.join(save_folder, 'test_pred_centers.npy'))
test_target_centers = np.load(
os.path.join(save_folder, 'test_target_centers.npy'))
test_moving_masks = np.load(
os.path.join(save_folder, 'test_moving_masks.npy'))
test_v_moving_masks = np.load(
os.path.join(save_folder, 'test_v_moving_masks.npy'))
test_h_moving_masks = np.load(
os.path.join(save_folder, 'test_h_moving_masks.npy'))
test_m_moving_masks = np.load(
os.path.join(save_folder, 'test_m_moving_masks.npy'))
nmp_v_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_v_moving_masks)
nmp_h_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_h_moving_masks)
nmp_m_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_m_moving_masks)
nmp_v_f_displacement_error = final_displacement_error(
test_pred_centers, test_target_centers, test_v_moving_masks)
nmp_h_f_displacement_error = final_displacement_error(
test_pred_centers, test_target_centers, test_h_moving_masks)
nmp_m_f_displacement_error = final_displacement_error(
test_pred_centers, test_target_centers, test_m_moving_masks)
print(
'Epoch: {:04d}'.format(epoch),
'V_Dis_Error: {:.04f}/{:.04f}'.format(nmp_v_displacement_error,
nmp_v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(nmp_h_displacement_error,
nmp_h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(nmp_m_displacement_error,
nmp_m_f_displacement_error),
'time: {:.04f}'.format(time.time() - t))
print(
'Epoch: {:04d}'.format(epoch),
'V_Dis_Error: {:.04f}/{:.04f}'.format(nmp_v_displacement_error,
nmp_v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(nmp_h_displacement_error,
nmp_h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(nmp_m_displacement_error,
nmp_m_f_displacement_error),
'time: {:.04f}'.format(time.time() - t),
file=log)
else:
loss_eval = iter_one_epoch(data_loader, epoch=epoch, is_training=False)
test_pred_centers = np.load(
os.path.join(save_folder, 'test_pred_centers.npy'))
test_target_centers = np.load(
os.path.join(save_folder, 'test_target_centers.npy'))
test_moving_masks = np.load(
os.path.join(save_folder, 'test_moving_masks.npy'))
avg_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_moving_masks)
# avg_displacement_error = displacement_error(test_pred_centers, test_target_centers)
print('Epoch: {:04d}'.format(epoch),
'Loss_Eval: {:.04f}'.format(loss_eval),
'Displace_Error: {:.04f}'.format(avg_displacement_error),
'time: {:.04f}'.format(time.time() - t))
print('Epoch: {:04d}'.format(epoch),
'Loss_Eval: {:.04f}'.format(loss_eval),
'Displace_Error: {:.04f}'.format(avg_displacement_error),
'time: {:.04f}'.format(time.time() - t),
file=log)
return
def train(epoch, min_val_loss):
t = time.time()
loss_train = 0.0
loss_val = 0.0
v_displacement_error = 0.0
h_displacement_error = 0.0
m_displacement_error = 0.0
if args.encoder == 'nmp':
iter_fn = nmp_iter_one_epoch
else:
iter_fn = iter_one_epoch
model.train()
scheduler.step()
loss_train = iter_fn(train_loader, epoch, is_training=True)
model.eval()
loss_val = iter_fn(val_loader, epoch, is_training=False)
model.eval()
loss_test = iter_fn(test_loader, epoch, is_training=False)
if args.encoder == 'nmp':
v_pred_centers = np.load(
os.path.join(save_folder, 'test_v_pred_centers.npy'))
v_target_centers = np.load(
os.path.join(save_folder, 'test_v_target_centers.npy'))
h_pred_centers = np.load(
os.path.join(save_folder, 'test_h_pred_centers.npy'))
h_target_centers = np.load(
os.path.join(save_folder, 'test_h_target_centers.npy'))
m_pred_centers = np.load(
os.path.join(save_folder, 'test_m_pred_centers.npy'))
m_target_centers = np.load(
os.path.join(save_folder, 'test_m_target_centers.npy'))
v_displacement_error = displacement_error(v_pred_centers,
v_target_centers)
h_displacement_error = displacement_error(h_pred_centers,
h_target_centers)
m_displacement_error = displacement_error(m_pred_centers,
m_target_centers)
v_f_displacement_error = final_displacement_error(
v_pred_centers, v_target_centers)
h_f_displacement_error = final_displacement_error(
h_pred_centers, h_target_centers)
m_f_displacement_error = final_displacement_error(
m_pred_centers, m_target_centers)
print(
'Epoch: {:04d}'.format(epoch),
'V_Dis_Error: {:.04f}/{:.04f}'.format(v_displacement_error,
v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(h_displacement_error,
h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(m_displacement_error,
m_f_displacement_error))
print('Epoch: {:04d}'.format(epoch),
'V_Dis_Error: {:.04f}/{:.04f}'.format(v_displacement_error,
v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(h_displacement_error,
h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(m_displacement_error,
m_f_displacement_error),
file=log)
test_pred_centers = np.load(
os.path.join(save_folder, 'test_pred_centers.npy'))
test_target_centers = np.load(
os.path.join(save_folder, 'test_target_centers.npy'))
test_moving_masks = np.load(
os.path.join(save_folder, 'test_moving_masks.npy'))
test_v_moving_masks = np.load(
os.path.join(save_folder, 'test_v_moving_masks.npy'))
test_h_moving_masks = np.load(
os.path.join(save_folder, 'test_h_moving_masks.npy'))
test_m_moving_masks = np.load(
os.path.join(save_folder, 'test_m_moving_masks.npy'))
nmp_v_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_v_moving_masks)
nmp_h_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_h_moving_masks)
nmp_m_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_m_moving_masks)
nmp_v_f_displacement_error = final_displacement_error(
test_pred_centers, test_target_centers, test_v_moving_masks)
nmp_h_f_displacement_error = final_displacement_error(
test_pred_centers, test_target_centers, test_h_moving_masks)
nmp_m_f_displacement_error = final_displacement_error(
test_pred_centers, test_target_centers, test_m_moving_masks)
print(
'Epoch: {:04d}'.format(epoch),
'Loss_Train: {:.04f}'.format(loss_train),
'Loss_Val: {:.04f}'.format(loss_val),
'Loss_Test: {:.04f}'.format(loss_test),
'V_Dis_Error: {:.04f}/{:.04f}'.format(nmp_v_displacement_error,
nmp_v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(nmp_h_displacement_error,
nmp_h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(nmp_m_displacement_error,
nmp_m_f_displacement_error),
'time: {:.04f}'.format(time.time() - t))
print(
'Epoch: {:04d}'.format(epoch),
'Loss_Train: {:.04f}'.format(loss_train),
'Loss_Val: {:.04f}'.format(loss_val),
'Loss_Test: {:.04f}'.format(loss_test),
'V_Dis_Error: {:.04f}/{:.04f}'.format(nmp_v_displacement_error,
nmp_v_f_displacement_error),
'H_Dis_Error: {:.04f}/{:.04f}'.format(nmp_h_displacement_error,
nmp_h_f_displacement_error),
'M_Dis_Error: {:.04f}/{:.04f}'.format(nmp_m_displacement_error,
nmp_m_f_displacement_error),
'time: {:.04f}'.format(time.time() - t),
file=log)
else:
test_pred_centers = np.load(
os.path.join(save_folder, 'test_pred_centers.npy'))
test_target_centers = np.load(
os.path.join(save_folder, 'test_target_centers.npy'))
test_moving_masks = np.load(
os.path.join(save_folder, 'test_moving_masks.npy'))
avg_displacement_error = displacement_error(test_pred_centers,
test_target_centers,
test_moving_masks)
print('Epoch: {:04d}'.format(epoch),
'Loss_Eval: {:.04f}'.format(loss_test),
'Displace_Error: {:.04f}'.format(avg_displacement_error),
'time: {:.04f}'.format(time.time() - t))
print('Epoch: {:04d}'.format(epoch),
'Loss_Eval: {:.04f}'.format(loss_test),
'Displace_Error: {:.04f}'.format(avg_displacement_error),
'time: {:.04f}'.format(time.time() - t),
file=log)
log.flush()
torch.save(model.state_dict(), model_file)
if args.save_folder and loss_val < min_val_loss:
torch.save(model.state_dict(), best_model_file)
return loss_val
def cal_ade_fde(pred_traj_gt, pred_traj_fake):
ade = displacement_error(pred_traj_fake, pred_traj_gt)
fde = final_displacement_error(pred_traj_fake[-1], pred_traj_gt[-1])
return ade, fde
def check_accuracy(loader, generator, discriminator, d_loss_fn, limit=False):
d_losses = [] #
metrics = {}
g_l2_losses_abs, g_l2_losses_rel = ([], ) * 2
disp_error = [] # ADE FDE
f_disp_error = []
total_traj = 0
mask_sum = 0
generator.eval()
with torch.no_grad(): #
for batch in loader:
batch = [tensor.cuda() for tensor in batch]
# (obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel, vgg_list) = batch
# (obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel) = batch
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel, n_l, l_m,
V_obs, A_obs, V_pre, A_pre, vgg_list) = batch
# pred_traj_fake_rel = generator(obs_traj, obs_traj_rel, vgg_list)
pred_traj_fake_rel = generator(obs_traj, obs_traj_rel, V_obs,
A_obs, vgg_list) # T V C
pred_traj_fake = relative_to_abs(pred_traj_fake_rel,
obs_traj[0, :, :,
-1]) # T V C——V C
g_l2_loss_abs = l2_loss(pred_traj_fake, pred_traj_gt, mode='sum')
g_l2_loss_rel = l2_loss(pred_traj_fake_rel,
pred_traj_gt_rel,
mode='sum')
ade = displacement_error(pred_traj_fake, pred_traj_gt) # TVC NVCT
fde = final_displacement_error(pred_traj_fake[-1],
pred_traj_gt[0, :, :, -1]) # VC VC
traj_real = torch.cat([obs_traj[:, :, 0, :], pred_traj_gt], dim=0)
traj_real_rel = torch.cat(
[obs_traj_rel[:, :, 0, :], pred_traj_gt_rel], dim=0)
traj_fake = torch.cat([obs_traj[:, :, 0, :], pred_traj_fake],
dim=0)
traj_fake_rel = torch.cat(
[obs_traj_rel[:, :, 0, :], pred_traj_fake_rel], dim=0)
scores_fake = discriminator(traj_fake, traj_fake_rel)
scores_real = discriminator(traj_real, traj_real_rel)
d_loss = d_loss_fn(scores_real, scores_fake)
d_losses.append(d_loss.item())
g_l2_losses_abs.append(g_l2_loss_abs.item())
g_l2_losses_rel.append(g_l2_loss_rel.item())
disp_error.append(ade.item())
f_disp_error.append(fde.item())
mask_sum += (pred_traj_gt.size(1) * PRED_LEN)
total_traj += pred_traj_gt.size(1)
if limit and total_traj >= NUM_SAMPLES_CHECK:
break
metrics['d_loss'] = sum(d_losses) / len(d_losses)
metrics['g_l2_loss_abs'] = sum(g_l2_losses_abs) / mask_sum
metrics['g_l2_loss_rel'] = sum(g_l2_losses_rel) / mask_sum
metrics['ade'] = sum(disp_error) / (total_traj * PRED_LEN)
metrics['fde'] = sum(f_disp_error) / total_traj
generator.train()
return metrics
def check_accuracy(loader, generator, discriminator, d_loss_fn, speed_regressor):
d_losses = []
metrics = {}
g_l2_losses_abs, g_l2_losses_rel = ([],) * 2
disp_error, f_disp_error, mean_speed_disp_error, final_speed_disp_error = [], [], [], []
total_traj = 0
loss_mask_sum = 0
generator.eval()
with torch.no_grad():
for batch in loader:
if USE_GPU:
batch = [tensor.cuda() for tensor in batch]
else:
batch = [tensor for tensor in batch]
if MULTI_CONDITIONAL_MODEL:
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel, loss_mask, seq_start_end, obs_ped_speed,
pred_ped_speed, obs_label, pred_label, obs_obj_rel_speed) = batch
else:
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel, loss_mask, seq_start_end, obs_ped_speed,
pred_ped_speed, obs_obj_rel_speed) = batch
if MULTI_CONDITIONAL_MODEL:
pred_traj_fake_rel, final_enc_h = generator(obs_traj, obs_traj_rel, seq_start_end, obs_ped_speed, pred_ped_speed,
pred_traj_gt, TRAIN_METRIC, None, obs_obj_rel_speed, obs_label=obs_label, pred_label=pred_label)
else:
pred_traj_fake_rel, final_enc_h = generator(obs_traj, obs_traj_rel, seq_start_end, obs_ped_speed, pred_ped_speed,
pred_traj_gt, TRAIN_METRIC, None, obs_obj_rel_speed, obs_label=None, pred_label=None)
fake_ped_speed = speed_regressor(obs_ped_speed, final_enc_h)
pred_traj_fake = relative_to_abs(pred_traj_fake_rel, obs_traj[-1])
loss_mask = loss_mask[:, OBS_LEN:]
g_l2_loss_abs, g_l2_loss_rel = cal_l2_losses(
pred_traj_gt, pred_traj_gt_rel, pred_traj_fake,
pred_traj_fake_rel, loss_mask
)
abs_speed_los = cal_mae_speed_loss(pred_ped_speed, fake_ped_speed)
ade = displacement_error(pred_traj_gt, pred_traj_fake)
fde = final_displacement_error(pred_traj_gt, pred_traj_fake)
traj_real = torch.cat([obs_traj, pred_traj_gt], dim=0)
traj_real_rel = torch.cat([obs_traj_rel, pred_traj_gt_rel], dim=0)
traj_fake = torch.cat([obs_traj, pred_traj_fake], dim=0)
traj_fake_rel = torch.cat([obs_traj_rel, pred_traj_fake_rel], dim=0)
ped_speed = torch.cat([obs_ped_speed, pred_ped_speed], dim=0)
if MULTI_CONDITIONAL_MODEL:
label_info = torch.cat([obs_label, pred_label], dim=0)
scores_fake = discriminator(traj_fake, traj_fake_rel, ped_speed, label=label_info)
scores_real = discriminator(traj_real, traj_real_rel, ped_speed, label=label_info)
else:
scores_fake = discriminator(traj_fake, traj_fake_rel, ped_speed, label=None)
scores_real = discriminator(traj_real, traj_real_rel, ped_speed, label=None)
d_loss = d_loss_fn(scores_real, scores_fake)
d_losses.append(d_loss.item())
g_l2_losses_abs.append(g_l2_loss_abs.item())
g_l2_losses_rel.append(g_l2_loss_rel.item())
disp_error.append(ade.item())
f_disp_error.append(fde.item())
loss_mask_sum += torch.numel(loss_mask.data)
total_traj += pred_traj_gt.size(1)
if total_traj >= NUM_SAMPLE_CHECK:
break
metrics['d_loss'] = sum(d_losses) / len(d_losses)
metrics['g_l2_loss_abs'] = sum(g_l2_losses_abs) / loss_mask_sum
metrics['g_l2_loss_rel'] = sum(g_l2_losses_rel) / loss_mask_sum
metrics['ade'] = sum(disp_error) / (total_traj * PRED_LEN)
metrics['fde'] = sum(f_disp_error) / total_traj
generator.train()
return metrics
def evaluate(loader, generator, num_samples, speed_regressor):
ade_outer, fde_outer, simulated_output, total_traj, sequences, labels, observed_traj = [], [], [], [], [], [], []
with torch.no_grad():
for batch in loader:
if USE_GPU:
batch = [tensor.cuda() for tensor in batch]
else:
batch = [tensor for tensor in batch]
if MULTI_CONDITIONAL_MODEL:
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel,
loss_mask, seq_start_end, obs_ped_speed, pred_ped_speed,
obs_label, pred_label, obs_obj_rel_speed) = batch
else:
(obs_traj, pred_traj_gt, obs_traj_rel, pred_traj_gt_rel,
loss_mask, seq_start_end, obs_ped_speed, pred_ped_speed,
obs_obj_rel_speed) = batch
ade, fde, traj_op, traj_obs = [], [], [], []
total_traj.append(pred_traj_gt.size(1))
sequences.append(seq_start_end)
if MULTI_CONDITIONAL_MODEL:
labels.append(torch.cat([obs_label, pred_label], dim=0))
for _ in range(num_samples):
if TEST_METRIC == 1: # USED DURING PREDICTION ENVIRONMENT
if MULTI_CONDITIONAL_MODEL:
_, final_enc_h = generator(obs_traj,
obs_traj_rel,
seq_start_end,
obs_ped_speed,
pred_ped_speed,
pred_traj_gt,
0,
None,
obs_obj_rel_speed,
obs_label=obs_label,
pred_label=pred_label)
fake_speed = speed_regressor(obs_ped_speed,
final_enc_h)
pred_traj_fake_rel, _ = generator(
obs_traj,
obs_traj_rel,
seq_start_end,
obs_ped_speed,
pred_ped_speed,
pred_traj_gt,
TEST_METRIC,
fake_speed,
obs_obj_rel_speed,
obs_label=obs_label,
pred_label=pred_label)
else:
_, final_enc_h = generator(obs_traj,
obs_traj_rel,
seq_start_end,
obs_ped_speed,
pred_ped_speed,
pred_traj_gt,
0,
None,
obs_obj_rel_speed,
obs_label=None,
pred_label=None)
fake_speed = speed_regressor(obs_ped_speed,
final_enc_h)
pred_traj_fake_rel, _ = generator(obs_traj,
obs_traj_rel,
seq_start_end,
obs_ped_speed,
pred_ped_speed,
pred_traj_gt,
TEST_METRIC,
fake_speed,
obs_obj_rel_speed,
obs_label=None,
pred_label=None)
elif TEST_METRIC == 2: # Used during Simulation environment
if MULTI_CONDITIONAL_MODEL:
pred_traj_fake_rel, _ = generator(
obs_traj,
obs_traj_rel,
seq_start_end,
obs_ped_speed,
pred_ped_speed,
pred_traj_gt,
TEST_METRIC,
None,
obs_obj_rel_speed,
obs_label=obs_label,
pred_label=pred_label)
else:
pred_traj_fake_rel, _ = generator(obs_traj,
obs_traj_rel,
seq_start_end,
obs_ped_speed,
pred_ped_speed,
pred_traj_gt,
TEST_METRIC,
None,
obs_obj_rel_speed,
obs_label=None,
pred_label=None)
pred_traj_fake = relative_to_abs(pred_traj_fake_rel,
obs_traj[-1])
ade.append(
displacement_error(pred_traj_fake,
pred_traj_gt,
mode='raw'))
fde.append(
final_displacement_error(pred_traj_fake[-1],
pred_traj_gt[-1],
mode='raw'))
traj_op.append(pred_traj_fake.unsqueeze(dim=0))
traj_obs.append(obs_traj.unsqueeze(dim=0))
best_traj, min_ade_error = evaluate_helper(
torch.stack(ade, dim=1), torch.cat(traj_op, dim=0),
seq_start_end)
staked_obs = torch.cat(traj_obs, dim=0)
obs = staked_obs[0]
observed_traj.append(obs)
_, min_fde_error = evaluate_helper(torch.stack(fde, dim=1),
torch.cat(traj_op, dim=0),
seq_start_end)
ade_outer.append(min_ade_error)
fde_outer.append(min_fde_error)
simulated_output.append(best_traj)
ade = sum(ade_outer) / (sum(total_traj) * PRED_LEN)
fde = sum(fde_outer) / (sum(total_traj))
simulated_traj = torch.cat(simulated_output, dim=1)
total_obs = torch.cat(observed_traj, dim=1).permute(1, 0, 2)
if MULTI_CONDITIONAL_MODEL:
all_labels = torch.cat(labels, dim=1)
last_items_in_sequences = []
curr_sequences = []
i = 0
for sequence_list in sequences:
last_sequence = sequence_list[-1]
if i > 0:
last_items_sum = sum(last_items_in_sequences)
curr_sequences.append(last_items_sum + sequence_list)
last_items_in_sequences.append(last_sequence[1])
if i == 0:
curr_sequences.append(sequence_list)
i += 1
continue
sequences = torch.cat(curr_sequences, dim=0)
colpercent = collisionPercentage(simulated_traj, sequences)
print('Collision Percentage: ', colpercent * 100)
# The user defined speed is verified by computing inverse sigmoid function on the output speed of the model.
if TEST_METRIC == 2:
if SINGLE_CONDITIONAL_MODEL:
verify_speed(simulated_traj, sequences, labels=None)
else:
verify_speed(simulated_traj, sequences, labels=all_labels)
return ade, fde, colpercent * 100