def test_compute_best_mode_nothing_below_threshold(self):
angles = [(90, 0), (80, 1), (70, 2)]
target = None
traj = None
loss = mtp.MTPLoss(3, 0, 5)
self.assertTrue(
loss._compute_best_mode(angles, target, traj) in {0, 1, 2})
loss = mtp.MTPLoss(3, 0, 65)
self.assertTrue(
loss._compute_best_mode(angles, target, traj) in {0, 1, 2})
def test_loss_many_modes(self):
targets = torch.zeros((16, 1, 30, 2))
targets[:, :, :, 1] = torch.arange(start=0, end=3, step=0.1)
predictions = torch.ones((16, 610))
predictions[:, 540:600] = targets[0, 0, :, :].reshape(-1, 60)
predictions[:, -10:] = 1 / 10
loss = mtp.MTPLoss(10, 1, angle_threshold_degrees=20)
# Since one mode exactly matches gt, loss should only be classification error.
self.assertAlmostEqual(float(
loss(predictions, targets).detach().numpy()),
-math.log(1 / 10),
places=4)
# Now the best mode differs by 1 from the ground truth.
# Smooth l1 loss subtracts 0.5 from l1 norm if diff >= 1.
predictions[:, 540:600] += 1
self.assertAlmostEqual(float(
loss(predictions, targets).detach().numpy()),
-math.log(1 / 10) + 0.5,
places=4)
# In this case, one element has perfect regression, the others are off by 1.
predictions[1, 540:600] -= 1
self.assertAlmostEqual(float(
loss(predictions, targets).detach().numpy()),
-math.log(1 / 10) + (15 / 16) * 0.5,
places=4)
def test_loss_single_mode(self):
targets = torch.zeros((16, 1, 30, 2))
targets[:, :, :, 1] = torch.arange(start=0, end=3, step=0.1)
predictions = torch.ones((16, 61))
predictions[:, :60] = targets[0, 0, :, :].reshape(-1, 60)
predictions[:, 60] = 1 / 10
loss = mtp.MTPLoss(1, 1, angle_threshold_degrees=20)
# Only regression loss in single mode case.
self.assertAlmostEqual(float(
loss(predictions, targets).detach().numpy()),
0,
places=4)
# Now the best mode differs by 1 from the ground truth.
# Smooth l1 loss subtracts 0.5 from l1 norm if diff >= 1.
predictions[:, :60] += 1
self.assertAlmostEqual(float(
loss(predictions, targets).detach().numpy()),
0.5,
places=4)
# In this case, one element has perfect regression, the others are off by 1.
predictions[1, :60] -= 1
self.assertAlmostEqual(float(
loss(predictions, targets).detach().numpy()), (15 / 16) * 0.5,
places=4)
def test_get_trajectories_and_modes(self):
loss_n_modes_5 = mtp.MTPLoss(5, 0, 0)
loss_n_modes_1 = mtp.MTPLoss(1, 0, 0)
xy_pred = torch.arange(60).view(1, -1).repeat(1, 5).view(-1, 60)
mode_pred = torch.arange(5).view(1, -1)
prediction_bs_1 = torch.cat([xy_pred.reshape(1, -1), mode_pred], dim=1)
prediction_bs_2 = prediction_bs_1.repeat(2, 1)
# Testing many modes with batch size 1.
traj, modes = loss_n_modes_5._get_trajectory_and_modes(prediction_bs_1)
self.assertTrue(
torch.allclose(traj,
xy_pred.unsqueeze(0).reshape(1, 5, 30, 2)))
self.assertTrue(torch.allclose(modes, mode_pred))
# Testing many modes with batch size > 1.
traj, modes = loss_n_modes_5._get_trajectory_and_modes(prediction_bs_2)
self.assertTrue(
torch.allclose(
traj,
xy_pred.repeat(1, 2).unsqueeze(0).reshape(2, 5, 30, 2)))
self.assertTrue(torch.allclose(modes, mode_pred.repeat(2, 1)))
xy_pred = torch.arange(60).view(1, -1).repeat(1, 1).view(-1, 60)
mode_pred = torch.arange(1).view(1, -1)
prediction_bs_1 = torch.cat([xy_pred.reshape(1, -1), mode_pred], dim=1)
prediction_bs_2 = prediction_bs_1.repeat(2, 1)
# Testing one mode with batch size 1.
traj, modes = loss_n_modes_1._get_trajectory_and_modes(prediction_bs_1)
self.assertTrue(
torch.allclose(traj,
xy_pred.unsqueeze(0).reshape(1, 1, 30, 2)))
self.assertTrue(torch.allclose(modes, mode_pred))
# Testing one mode with batch size > 1.
traj, modes = loss_n_modes_1._get_trajectory_and_modes(prediction_bs_2)
self.assertTrue(
torch.allclose(
traj,
xy_pred.repeat(1, 2).unsqueeze(0).reshape(2, 1, 30, 2)))
self.assertTrue(torch.allclose(modes, mode_pred.repeat(2, 1)))
def test_angle_between_trajectories(self):
def make_trajectory(last_point):
traj = torch.zeros((12, 2))
traj[-1] = torch.Tensor(last_point)
return traj
loss = mtp.MTPLoss(0, 0, 0)
# test angle is 0.
self.assertEqual(
loss._angle_between(make_trajectory([0, 0]),
make_trajectory([0, 0])), 0.)
self.assertEqual(
loss._angle_between(make_trajectory([15, 15]),
make_trajectory([15, 15])), 0.)
# test angle is 15.
self.assertAlmostEqual(loss._angle_between(
make_trajectory([1, 1]), make_trajectory([math.sqrt(3) / 2, 0.5])),
15.,
places=4)
# test angle is 30.
self.assertAlmostEqual(loss._angle_between(
make_trajectory([1, 0]), make_trajectory([math.sqrt(3) / 2, 0.5])),
30.,
places=4)
# test angle is 45.
self.assertAlmostEqual(loss._angle_between(make_trajectory([1, 1]),
make_trajectory([0, 1])),
45.,
places=4)
# test angle is 90.
self.assertAlmostEqual(loss._angle_between(make_trajectory([1, 1]),
make_trajectory([-1, 1])),
90.,
places=4)
self.assertAlmostEqual(loss._angle_between(make_trajectory([1, 0]),
make_trajectory([0, 1])),
90.,
places=4)
# test angle is 180.
self.assertAlmostEqual(loss._angle_between(make_trajectory([1, 0]),
make_trajectory([-1, 0])),
180.,
places=4)
self.assertAlmostEqual(loss._angle_between(make_trajectory([0, 1]),
make_trajectory([0, -1])),
180.,
places=4)
self.assertAlmostEqual(loss._angle_between(make_trajectory([3, 1]),
make_trajectory([-3, -1])),
180.,
places=4)
def test_compute_best_mode_multiple_below_threshold(self):
angles = [(2, 2), (4, 1), (10, 0)]
target = torch.ones((1, 6, 2))
trajectory = torch.zeros((3, 6, 2))
trajectory[1] = 1
loss = mtp.MTPLoss(3, 0, 5)
self.assertEqual(loss._compute_best_mode(angles, target, trajectory),
1)
def test_compute_best_mode_only_one_below_threshold(self):
angles = [(30, 1), (3, 0), (25, 2)]
target = torch.ones((1, 6, 2))
trajectory = torch.zeros((3, 6, 2))
loss = mtp.MTPLoss(3, 0, 5)
self.assertEqual(loss._compute_best_mode(angles, target, trajectory),
0)
def test_compute_best_mode_only_one_mode(self):
angles = [(25, 0)]
target = torch.ones((1, 6, 2))
trajectory = torch.zeros((1, 6, 2))
loss = mtp.MTPLoss(1, 0, 5)
self.assertEqual(loss._compute_best_mode(angles, target, trajectory),
0)
trajectory[0] = 1
self.assertEqual(loss._compute_best_mode(angles, target, trajectory),
0)
