Merge branch 'main' of https://github.com/sisl/InteractionImitation into main

src/metrics.py

@@ -3,7 +3,7 @@ import pickle
 import numpy as np
 import matplotlib.pyplot as plt
 from torch.utils.data import DataLoader
-import intersim.collisions
+from intersim import collisions
 
 def metrics(filestr: str, test_dataset, policy):
     """
@@ -19,10 +19,17 @@ def metrics(filestr: str, test_dataset, policy):
     # b) applying the policy to observations in the test dataset
 
     # load trajectory
+    states = torch.load(filestr + '_sim_states.pt').detach()
+    lengths = torch.load(filestr + '_sim_lengths.pt').detach()
+    widths = torch.load(filestr + '_sim_widths.pt').detach()
+    xpoly = torch.load(filestr + '_sim_xpoly.pt').detach()
+    ypoly = torch.load(filestr + '_sim_ypoly.pt').detach()
 
     # count collisions (from function in intersim.collisions)
+    n_collisions = collisions.count_collisions_trajectory(states, lengths, widths)
 
     # calculate average velocity
+    avg_v = average_velocity(states)
 
     # calculate divergence between velocity distributions
     
@@ -57,11 +64,18 @@ def visualize_distribution(true, pred, filestr):
     plt.legend(['True', 'Predicted'])
     plt.savefig(filestr+'.png')
     
-def average_velocity(x):
+def average_velocity(states):
     """
-
+    Compute average of average velocity over all vehicles.
+    Args:
+        states (torch.tensor): (T,nv,5) vehicle states
+    Returns
+        avg_v (float): average velocity
     """
-    pass
+    velocities = states[:,:,2]
+    vehicle_avg_v = nanmean(velocities, dim=0)
+    arg_v = nanmean(vehicle_avg_v)
+    return arg_v
 
 def divergence(p, q, type='kl'):
     """
@@ -72,4 +86,23 @@ def divergence(p, q, type='kl'):
     Returns:
         d (float): approximate divergence
     """
-    pass
+    pass
+
+def nanmean(v, *args, inplace=False, **kwargs):
+    """
+    Calculate mean over not nan entries
+
+    To be added to torch as torch.nanmean in the next release
+    https://github.com/pytorch/pytorch/issues/61474, https://github.com/pytorch/pytorch/issues/21987
+
+    Args:
+        v (torch.tensor): arbitrary tensor
+    Returns:
+        result (torch.tensor): mean over non nan elements
+    """
+    if not inplace:
+        v = v.clone()
+    is_nan = torch.isnan(v)
+    v[is_nan] = 0
+    result = v.sum(*args, **kwargs) / (~is_nan).float().sum(*args, **kwargs)
+    return result