mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:36:37 +00:00
Yuzviak
50 lines
1.4 KiB
Python
50 lines
1.4 KiB
Python
"""Tests for Model Manager (F16)."""
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import numpy as np
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from gps_denied.core.models import ModelManager
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def test_load_and_get_model():
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manager = ModelManager()
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# Should auto-load
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engine = manager.get_inference_engine("SuperPoint")
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assert engine.model_name == "SuperPoint"
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# Check fallback/dummy
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assert manager.fallback_to_onnx("SuperPoint") is True
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assert manager.optimize_to_tensorrt("SuperPoint", "path.onnx") == "path.onnx.trt"
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def test_mock_superpoint():
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manager = ModelManager()
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engine = manager.get_inference_engine("SuperPoint")
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dummy_img = np.zeros((480, 640, 3), dtype=np.uint8)
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res = engine.infer(dummy_img)
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assert "keypoints" in res
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assert "descriptors" in res
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assert "scores" in res
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assert len(res["keypoints"]) == 500
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assert res["descriptors"].shape == (500, 256)
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def test_mock_lightglue():
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manager = ModelManager()
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engine = manager.get_inference_engine("LightGlue")
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# Need mock features
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class DummyF:
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def __init__(self, keypoints):
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self.keypoints = keypoints
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f1 = DummyF(np.random.rand(120, 2))
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f2 = DummyF(np.random.rand(150, 2))
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res = engine.infer({"features1": f1, "features2": f2})
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assert "matches" in res
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assert len(res["matches"]) == 100 # min(100, 120, 150)
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assert res["keypoints1"].shape == (100, 2)
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assert res["keypoints2"].shape == (100, 2)
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