def comparison_ops(self):
a = torch.randn(4)
b = torch.randn(4)
return (
torch.allclose(a, b),
torch.argsort(a),
torch.eq(a, b),
torch.equal(a, b),
torch.ge(a, b),
torch.greater_equal(a, b),
torch.gt(a, b),
torch.greater(a, b),
torch.isclose(a, b),
torch.isfinite(a),
torch.isin(a, b),
torch.isinf(a),
torch.isposinf(a),
torch.isneginf(a),
torch.isnan(a),
torch.isreal(a),
torch.kthvalue(a, 1),
torch.le(a, b),
torch.less_equal(a, b),
torch.lt(a, b),
torch.less(a, b),
torch.maximum(a, b),
torch.minimum(a, b),
torch.fmax(a, b),
torch.fmin(a, b),
torch.ne(a, b),
torch.not_equal(a, b),
torch.sort(a),
torch.topk(a, 1),
torch.msort(a),
)
def create_attention_mask(self, bs, seq_len, windows, block_length,
attention_mask):
ticker = torch.arange(seq_len)[None, :]
b_t = ticker.reshape(1, windows, block_length)
bq_t = b_t
bq_k = self.look_around(b_t, block_length, self.window_size)
# compute attn mask
# this matches the original implem in mess-tensorflow
# https://github.com/tensorflow/mesh/blob/8bd599a21bad01cef1300a8735c17306ce35db6e/mesh_tensorflow/transformer/attention.py#L805
relative_position = bq_k.unsqueeze(-2) - bq_t.unsqueeze(-1)
relative_position = relative_position.transpose(-1, -2)
sequence_id = torch.ones(bs, seq_len)
q_seq = sequence_id.reshape(-1, windows, block_length)
m_seq = sequence_id.reshape(-1, windows, block_length)
m_seq = self.look_around(m_seq, block_length, self.window_size)
if attention_mask is not None:
attention_mask = attention_mask.to(m_seq.device)
attention_mask = attention_mask.reshape(-1, windows, block_length)
attention_mask = self.look_around(attention_mask, block_length,
self.window_size)
m_seq *= attention_mask
visible = torch.eq(q_seq.unsqueeze(-1),
m_seq.unsqueeze(-2)).transpose(-1, -2)
visible = torch.logical_and(
visible, torch.gt(relative_position, -self.window_size))
mask = torch.logical_and(visible, torch.less_equal(
relative_position, 0)).transpose(-1, -2).unsqueeze(2)
return mask
def decide_with_nms(model:Experiment,dataloader:DataLoader):
for i,data in enumerate(dataloader):
_,raman = data
predicted_spectrum = model(data)
predicted_confidence = predicted_spectrum[:,:,:,0] # (batch_size, 25, 2)
predicted_confidence = predicted_confidence.view((-1,50)) # (batch_size, 50)
predicted_confidence_bak = predicted_confidence.clone()
target_confidence = raman[:,:,0] # (batch_size, 25)
Ac_list = np.array([])
Pr_list = np.array([])
Rc_list = np.array([])
F1_list = np.array([])
for top_k in range(1,51):
predicted_confidence = torch.argsort(predicted_confidence, dim=1, descending=True) # (batch_size, 50)
predicted_confidence = torch.less_equal(predicted_confidence,top_k-1).float().view((-1,25,2)).sum(dim=-1).sgn() #(batch_size,25)
Accuracy, Precision,Recall,F1Score = Experiment.scores(predicted_confidence,target_confidence)
Ac_list = np.append(Ac_list,Accuracy.item())
Pr_list = np.append(Pr_list,Precision.item())
Rc_list = np.append(Rc_list,Recall.item())
F1_list = np.append(F1_list,F1Score.item())
predicted_confidence = predicted_confidence_bak.clone()
fig = make_subplots(rows=1,cols=2)
top_k_list = [i for i in range(1,51)]
fig.add_trace(go.Scatter(x=top_k_list,y=Ac_list,name="Accuracy"),row=1,col=1)
fig.add_trace(go.Scatter(x=top_k_list,y=Pr_list,name="Precision"),row=1,col=1)
fig.add_trace(go.Scatter(x=top_k_list,y=Rc_list,name="Recall"),row=1,col=1)
fig.add_trace(go.Scatter(x=top_k_list,y=F1_list,name="F1Score"),row=1,col=1)
fig.add_trace(go.Scatter(x=Rc_list,y=Pr_list,name="Pr-Rc"),row=1,col=2)
return fig
def decide_with_cut_off(model:Experiment,dataloader:DataLoader):
for i,data in enumerate(dataloader):
_,raman = data
predicted_spectrum = model(data)
predicted_confidence = predicted_spectrum[:,:,:,0]
predicted_confidence_backup,_ = torch.max(predicted_confidence, dim=2)
predict_confidence = predicted_confidence_backup.clone()
target_confidence = raman[:,:,0]
cut_off_list = np.linspace(0.2,0.8,60)
Ac_list = np.array([])
Pr_list = np.array([])
Rc_list = np.array([])
F1_list = np.array([])
for cut_off in cut_off_list:
less = torch.less_equal(predict_confidence,cut_off)
predict_confidence[less] = 0
predict_confidence[torch.logical_not(less)] = 1
Accuracy, Precision,Recall,F1Score = Experiment.scores(predict_confidence,target_confidence)
predict_confidence = predicted_confidence_backup.clone()
Ac_list = np.append(Ac_list,Accuracy.item())
Pr_list = np.append(Pr_list,Precision.item())
Rc_list = np.append(Rc_list,Recall.item())
F1_list = np.append(F1_list,F1Score.item())
fig = make_subplots(rows=1,cols=2)
fig.add_trace(go.Scatter(x=cut_off_list,y=Ac_list,name="Accuracy"),row=1,col=1)
fig.add_trace(go.Scatter(x=cut_off_list,y=Pr_list,name="Precision"),row=1,col=1)
fig.add_trace(go.Scatter(x=cut_off_list,y=Rc_list,name="Recall"),row=1,col=1)
fig.add_trace(go.Scatter(x=cut_off_list,y=F1_list,name="F1Score"),row=1,col=1)
fig.add_trace(go.Scatter(x=Rc_list,y=Pr_list,name="Pr-Rc"),row=1,col=2)
return fig
def test_ssim_measure_is_less_or_equal_to_one(
ones_zeros_4d_5d: Tuple[torch.Tensor,
torch.Tensor], device: str) -> None:
# Create two maximally different tensors.
ones = ones_zeros_4d_5d[0].to(device)
zeros = ones_zeros_4d_5d[1].to(device)
measure = ssim(ones, zeros, data_range=1., reduction='none')
assert torch.less_equal(measure,
1).all(), f'SSIM must be <= 1, got {measure}'
def NMS_or_not(predicted, nms: bool = False, cut_off: float = 0.5):
predicted = predicted[0]
predicted_confidence = predicted[:, :, 0] # (25,2)
predicted_position = predicted[:, :, 1] # (25,2)
predicted_position = absolute_position(predicted_position) # (25,2)
predicted_confidence, selected_worker = torch.max(predicted_confidence,
dim=-1) # (25,)
# predict_position[i,j=0] = predicted_postion[i, selected_worker[i,j=0]]
selected_worker = selected_worker.view((-1, 1))
predicted_position = torch.gather(predicted_position, 1,
selected_worker).flatten()
less = torch.less_equal(predicted_confidence, cut_off)
more = torch.logical_not(less)
predicted_confidence_round = predicted_confidence.clone()
predicted_confidence_round[less] = 0
predicted_confidence_round[more] = 1
return predicted_confidence, predicted_position, predicted_confidence_round
def forward(self):
a = torch.tensor(0)
b = torch.tensor(1)
return len(
torch.allclose(a, b),
torch.argsort(a),
torch.eq(a, b),
torch.eq(a, 1),
torch.equal(a, b),
torch.ge(a, b),
torch.ge(a, 1),
torch.greater_equal(a, b),
torch.greater_equal(a, 1),
torch.gt(a, b),
torch.gt(a, 1),
torch.greater(a, b),
torch.isclose(a, b),
torch.isfinite(a),
torch.isin(a, b),
torch.isinf(a),
torch.isposinf(a),
torch.isneginf(a),
torch.isnan(a),
torch.isreal(a),
torch.kthvalue(a, 1),
torch.le(a, b),
torch.le(a, 1),
torch.less_equal(a, b),
torch.lt(a, b),
torch.lt(a, 1),
torch.less(a, b),
torch.maximum(a, b),
torch.minimum(a, b),
torch.fmax(a, b),
torch.fmin(a, b),
torch.ne(a, b),
torch.ne(a, 1),
torch.not_equal(a, b),
torch.sort(a),
torch.topk(a, 1),
torch.msort(a),
)
def __le__(self, other):
x0, x1 = self._to_binary_tensor_args(other)
y = torch.less_equal(x0._t, x1._t)
s = _ox.less_equal(*_EagerTensor.ox_args([x0, x1]))
return self.from_torch(y, s)
def __mask_assign_targets_anchors_torch(
self, batch_points, batch_anchors_3d, batch_gt_boxes_3d,
batch_gt_labels, minibatch_size, positive_rate, pos_iou, neg_iou,
effective_sample_range, valid_mask):
""" Mask assign targets function
batch_points: [bs, points_num, 3]
batch_anchors_3d: [bs, points_num, cls_num, 7]
batch_gt_boxes_3d: [bs, gt_num, 7]
batch_gt_labels: [bs, gt_num]
valid_mask: [bs, points_num, cls_num]
return:
assigned_idx: [bs, points_num, cls_num], int32, the index of groundtruth
assigned_pmask: [bs, points_num, cls_num], float32
assigned_nmask: [bs, points_num, cls_num], float32
"""
bs, pts_num, cls_num, _ = batch_anchors_3d.shape
positive_size = int(minibatch_size * positive_rate)
batch_assigned_idx = torch.zeros([bs, pts_num, cls_num
]).long().to(batch_points.device)
batch_assigned_pmask = torch.zeros([bs, pts_num, cls_num
]).float().to(batch_points.device)
batch_assigned_nmask = torch.zeros([bs, pts_num, cls_num
]).float().to(batch_points.device)
for i in range(bs):
cur_points = batch_points[i]
cur_anchors_3d = batch_anchors_3d[i] # [pts_num, cls_num, 3/7]
cur_valid_mask = valid_mask[i] # [pts_num, cls_num]
# gt_num
cur_gt_labels = batch_gt_labels[i] # [gt_num]
cur_gt_boxes_3d = batch_gt_boxes_3d[i] # [gt_num, 7]
# first filter gt_boxes
filter_idx = torch.where(
torch.any(torch.not_equal(cur_gt_boxes_3d, 0),
dim=-1))[0].to(cur_gt_labels.device)
cur_gt_labels = cur_gt_labels[filter_idx]
cur_gt_boxes_3d = cur_gt_boxes_3d[filter_idx]
cur_points_numpy = cur_points.cpu().detach().numpy()
cur_gt_boxes_3d_numpy = cur_gt_boxes_3d.cpu().detach().numpy()
points_mask_numpy = check_inside_points(
cur_points_numpy, cur_gt_boxes_3d_numpy) # [pts_num, gt_num]
points_mask = torch.from_numpy(points_mask_numpy).int().to(
cur_points.device)
sampled_gt_idx_numpy = np.argmax(points_mask_numpy, axis=-1)
sampled_gt_idx = torch.from_numpy(sampled_gt_idx_numpy).long().to(
cur_points.device) # [pts_num]
# used for label_mask
assigned_gt_label = cur_gt_labels[sampled_gt_idx] # [pts_num]
assigned_gt_label = assigned_gt_label - 1 # 1... -> 0...
# used for dist_mask
assigned_gt_boxes = cur_gt_boxes_3d[sampled_gt_idx] # [pts_num, 7]
# then calc the distance between anchors and assigned_boxes
# dist = cur_anchors_3d[:, :, :3] - assigned_gt_boxes[:, 0:3].unsqueeze(dim=1).repeat((1, cur_anchors_3d.shape[1], 1))
# dist = torch.sqrt(torch.sum(dist * dist, dim=-1))
dist = torch.linalg.norm(
cur_anchors_3d[:, :, :3] -
assigned_gt_boxes[:, 0:3].unsqueeze(dim=1).repeat(
(1, cur_anchors_3d.shape[1], 1)),
dim=-1)
filtered_assigned_idx = filter_idx[sampled_gt_idx] # [pts_num]
filtered_assigned_idx = filtered_assigned_idx.view(pts_num,
1).repeat(
(1,
cls_num))
batch_assigned_idx[i] = filtered_assigned_idx
# then we generate pos/neg mask
if cls_num == 1: # anchor_free
label_mask = torch.ones(
(pts_num, cls_num)).float().to(points_mask.device)
else: # multiple anchors
label_mask = np.tile(
np.reshape(np.arange(cls_num), [1, cls_num]), [pts_num, 1])
label_mask = np.equal(label_mask,
assigned_gt_label[:, np.newaxis]).astype(
np.float32)
pmask = torch.max(points_mask, dim=1)[0] > 0
dist_mask = torch.less_equal(
dist, effective_sample_range) # pts_num, cls_num
pmask = torch.logical_and(pmask.unsqueeze(-1), dist_mask)
pmask = pmask.float() * label_mask
pmask = pmask * cur_valid_mask
nmask = torch.max(points_mask, dim=1)[0] == 0
nmask = nmask.view(pts_num, 1).repeat((1, cls_num))
nmask = nmask.float() * label_mask
nmask = nmask * cur_valid_mask
# then randomly sample
if minibatch_size != -1:
pts_pmask = np.any(pmask, axis=1) # pts_num
pts_nmask = np.any(nmask, axis=1) # [pts_num]
positive_inds = np.where(pts_pmask)[0]
cur_positive_num = np.minimum(len(positive_inds),
positive_size)
if cur_positive_num > 0:
positive_inds = np.random.choice(positive_inds,
cur_positive_num,
replace=False)
pts_pmask = np.zeros_like(pts_pmask)
pts_pmask[positive_inds] = 1
cur_negative_num = minibatch_size - cur_positive_num
negative_inds = np.where(pts_nmask)[0]
cur_negative_num = np.minimum(len(negative_inds),
cur_negative_num)
if cur_negative_num > 0:
negative_inds = np.random.choice(negative_inds,
cur_negative_num,
replace=False)
pts_nmask = np.zeros_like(pts_nmask)
pts_nmask[negative_inds] = 1
pmask = pmask * pts_pmask[:, np.newaxis]
nmask = nmask * pts_nmask[:, np.newaxis]
batch_assigned_pmask[i] = pmask
batch_assigned_nmask[i] = nmask
return batch_assigned_idx, batch_assigned_pmask, batch_assigned_nmask
