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Fix for sporadically failing test in DALI Pipeline Framework #37

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Merged
xupinjie merged 1 commit into from
Jun 26, 2026
Merged

Fix for sporadically failing test in DALI Pipeline Framework #37

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25 changes: 13 additions & 12 deletions packages/dali_pipeline_framework/tests/processing_steps/bev_bboxes_transformer_3d_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,10 @@
)
from accvlab.dali_pipeline_framework.processing_steps import BEVBBoxesTransformer3D

# Float32 transform matrices accumulate error across trigonometry, inversions, and matrix products.
# 5e-6 is a small error budget for values with translation components in the tens.
FLOAT32_TRANSFORM_MATRIX_TOLERANCE = 5e-6


def set_dali_uniform_generator_and_get_orig_and_replacement(sequences):
generator = DaliFakeRandomGenerator(sequences)
Expand Down Expand Up @@ -292,7 +296,9 @@ def apply_transformation_to_points(points, rotation_matrix, scaling_matrix, tran
return res


def verify_matrix_inverse_relationship(ego_to_world, world_to_ego, tolerance=1e-6):
def verify_matrix_inverse_relationship(
ego_to_world, world_to_ego, tolerance=FLOAT32_TRANSFORM_MATRIX_TOLERANCE
):
"""Verify that world_to_ego is the inverse of ego_to_world."""

expected_world_to_ego = torch.linalg.inv(ego_to_world)
Expand All @@ -301,14 +307,6 @@ def verify_matrix_inverse_relationship(ego_to_world, world_to_ego, tolerance=1e-
f"Max difference: {torch.max(torch.abs(world_to_ego - expected_world_to_ego)).item()}"
)

# Check that world_to_ego @ ego_to_world = identity
identity_check = world_to_ego @ ego_to_world
expected_identity = torch.eye(4, dtype=torch.float32)

assert torch.allclose(
identity_check, expected_identity, atol=tolerance
), f"world_to_ego is not the inverse of ego_to_world. Max difference: {torch.max(torch.abs(identity_check - expected_identity)).item()}"


def verify_transformation_consistency(
original_points, original_transformation, transformed_points, transformed_transformation, tolerance=1e-6
Expand Down Expand Up @@ -367,6 +365,7 @@ def verify(
scaling,
translation,
tolerance=1e-6,
transform_matrix_tolerance=FLOAT32_TRANSFORM_MATRIX_TOLERANCE,
):
"""Verify that the transformation is consistent."""

Expand Down Expand Up @@ -422,18 +421,20 @@ def verify(
),
dtype=torch.float32,
)
assert torch.allclose(ego_to_world_ref, ego_to_world_out, atol=tolerance), (
assert torch.allclose(ego_to_world_ref, ego_to_world_out, atol=transform_matrix_tolerance), (
"ego_to_world transformation does not match reference implementation. "
f"Max difference: {torch.max(torch.abs(ego_to_world_ref - ego_to_world_out)).item()}"
)
assert torch.allclose(world_to_ego_ref, world_to_ego_out, atol=tolerance), (
assert torch.allclose(world_to_ego_ref, world_to_ego_out, atol=transform_matrix_tolerance), (
"world_to_ego transformation does not match reference implementation. "
f"Max difference: {torch.max(torch.abs(world_to_ego_ref - world_to_ego_out)).item()}"
)

verify_transformation_consistency(points_in, proj_matrix_in, points_out, proj_matrix_out, tolerance)
verify_transformation_consistency(points_in, ego_to_world_in, points_out, ego_to_world_out, tolerance)
verify_matrix_inverse_relationship(ego_to_world_out, world_to_ego_out, tolerance)
verify_matrix_inverse_relationship(
ego_to_world_out, world_to_ego_out, tolerance=transform_matrix_tolerance
)


def run_transformation_test_with_reference_comparison(
Expand Down