def test_load_undeepvo_checkpoint(self):
filename = 'checkpoint_undeepvo.pth'
# subprocess.run('checkpoint_download.sh')
params = AttributeDict(
lr=1e-4,
beta1=0.9,
beta2=0.99,
lambda_position=0.01,
lambda_rotation=0.1,
batch_size=8,
)
pose_net = PoseNetResNet()
depth_net = DepthNetResNet()
params.update(scale_lr=5e-1,
initial_log_scale=4.59,
initial_log_min_depth=0.)
model = ScaledUnsupervisedDepthModel(params,
pose_net,
depth_net,
criterion=None)
model_before = copy.deepcopy(model)
load_undeepvo_checkpoint(model, filename)
self.assertTrue(
torch.any(model_before._pose_net._first_layer.weight !=
model._pose_net._first_layer.weight))
self.assertTrue(
torch.any(model_before._depth_net.skip_zero.weight !=
model._depth_net.skip_zero.weight))
def test_unfreeze_last_layer(self):
params = AttributeDict(
lr=1e-4,
beta1=0.9,
beta2=0.99,
lambda_position=0.01,
lambda_rotation=0.1,
batch_size=8,
)
pose_net = PoseNetResNet()
depth_net = DepthNetResNet()
params.update(scale_lr=5e-1,
initial_log_scale=4.59,
initial_log_min_depth=0.)
model = ScaledUnsupervisedDepthModel(params,
pose_net,
depth_net,
criterion=None)
freeze_feature_extractor(model)
unfreeze_last_layer(model)
self.assertTrue(model._depth_net._last_conv.requires_grad)
self.assertTrue(model._pose_net.rot3.requires_grad)
self.assertTrue(model._pose_net.transl3.requires_grad)
def training_step_and_backward_closure(
self,
split_batch: Any,
batch_idx: int,
opt_idx: int,
optimizer: Optimizer,
hiddens,
return_result: AttributeDict,
) -> Optional[torch.Tensor]:
result = self.training_step_and_backward(split_batch, batch_idx, opt_idx, optimizer, hiddens)
if result is not None:
return_result.update(result)
return return_result.loss
def test_attribute_dict(tmpdir):
# Test initialization
inputs = {"key1": 1, "key2": "abc"}
ad = AttributeDict(inputs)
for key, value in inputs.items():
assert getattr(ad, key) == value
# Test adding new items
ad = AttributeDict()
ad.update({"key1": 1})
assert ad.key1 == 1
# Test updating existing items
ad = AttributeDict({"key1": 1})
ad.key1 = 123
assert ad.key1 == 123
