def test_call_train(self):
num_classes = 5
loss_fn_box_corner_distance_on_voxel_tensors = functools.partial(
box_prediction_losses.box_corner_distance_loss_on_voxel_tensors,
is_intermediate=False,
loss_type='absolute_difference',
is_balanced=True)
loss_fn_box_classification_using_center_distance = functools.partial(
classification_losses.box_classification_using_center_distance_loss,
is_intermediate=False,
is_balanced=True,
max_positive_normalized_distance=0.3)
loss_fn_hard_negative_classification = functools.partial(
classification_losses.hard_negative_classification_loss,
is_intermediate=False,
gamma=1.0)
loss_names_to_functions = {
'box_corner_distance_loss_on_voxel_tensors':
loss_fn_box_corner_distance_on_voxel_tensors,
'box_classification_using_center_distance_loss':
loss_fn_box_classification_using_center_distance,
'hard_negative_classification_loss':
loss_fn_hard_negative_classification,
}
loss_names_to_weights = {
'box_corner_distance_loss_on_voxel_tensors': 5.0,
'box_classification_using_center_distance_loss': 1.0,
'hard_negative_classification_loss': 1.0,
}
object_detection_model = model.ObjectDetectionModel(
loss_names_to_functions=loss_names_to_functions,
loss_names_to_weights=loss_names_to_weights,
num_classes=num_classes,
predict_rotation_x=True,
predict_rotation_y=True,
predict_rotation_z=True)
num_voxels = 100
inputs = self.get_inputs(num_voxels=num_voxels, num_classes=num_classes)
outputs = object_detection_model(inputs, training=True)
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_semantic_voxels]
.get_shape(), (1, num_voxels, num_classes))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_center_voxels]
.get_shape(), (1, num_voxels, 3))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_length_voxels]
.get_shape(), (1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_height_voxels]
.get_shape(), (1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_width_voxels]
.get_shape(), (1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_x_cos_voxels].get_shape(),
(1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_x_sin_voxels].get_shape(),
(1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_y_cos_voxels].get_shape(),
(1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_y_sin_voxels].get_shape(),
(1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_z_cos_voxels].get_shape(),
(1, num_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_z_sin_voxels].get_shape(),
(1, num_voxels, 1))
def test_call_eval(self):
num_classes = 5
object_detection_model = model.ObjectDetectionModel(
num_classes=num_classes,
predict_rotation_x=True,
predict_rotation_y=True,
predict_rotation_z=True)
num_voxels = 100
inputs = self.get_inputs(num_voxels=num_voxels, num_classes=num_classes)
outputs = object_detection_model(inputs, training=False)
num_valid_voxels = inputs[
standard_fields.InputDataFields.num_valid_voxels].numpy()[0]
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_semantic_voxels]
.get_shape(), (num_valid_voxels, num_classes))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_center_voxels]
.get_shape(), (num_valid_voxels, 3))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_length_voxels]
.get_shape(), (num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_height_voxels]
.get_shape(), (num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields.object_width_voxels]
.get_shape(), (num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_x_cos_voxels].get_shape(),
(num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_x_sin_voxels].get_shape(),
(num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_y_cos_voxels].get_shape(),
(num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_y_sin_voxels].get_shape(),
(num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_z_cos_voxels].get_shape(),
(num_valid_voxels, 1))
self.assertEqual(
outputs[standard_fields.DetectionResultFields
.object_rotation_z_sin_voxels].get_shape(),
(num_valid_voxels, 1))
self.assertIn(standard_fields.DetectionResultFields.objects_center, outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_length, outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_height, outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_width, outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_rotation_matrix,
outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_rotation_x_cos,
outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_rotation_x_sin,
outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_rotation_y_cos,
outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_rotation_y_sin,
outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_rotation_z_cos,
outputs)
self.assertIn(standard_fields.DetectionResultFields.objects_rotation_z_sin,
outputs)