def test_chamfer_distance_evaluate_jacobian(self):
"""Tests the Jacobian of the Chamfer distance loss."""
point_set_a, point_set_b = _random_point_sets()
with self.subTest(name="jacobian_wrt_point_set_a"):
self.assert_jacobian_is_correct_fn(
lambda x: chamfer_distance.evaluate(x, point_set_b),
[point_set_a],
atol=1e-5)
with self.subTest(name="jacobian_wrt_point_set_b"):
self.assert_jacobian_is_correct_fn(
lambda x: chamfer_distance.evaluate(point_set_a, x),
[point_set_b],
atol=1e-5)
def test_evaluate_preset(self, point_set_a, point_set_b,
expected_distance):
tensor_shape = _random_tensor_shape()
point_set_a = np.tile(point_set_a, tensor_shape + [1, 1])
point_set_b = np.tile(point_set_b, tensor_shape + [1, 1])
expected = np.tile(expected_distance, tensor_shape)
result = chamfer_distance.evaluate(point_set_a, point_set_b)
self.assertAllClose(expected, result)