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at669 avatar at669 commented on May 31, 2024

Initializing a PoseEstimationEstimator will try to load the estimators from file if a checkpoint_file exists:

Robotics-Object-Pose-Estimation/Model/pose_estimation/pose_estimation_estimator.py

Lines 69 to 72 in 7558d74

# load estimators from file if checkpoint_file exists
checkpoint_file = config.checkpoint.load_dir_checkpoint
if checkpoint_file != "None":
self.checkpointer.load(self, checkpoint_file)
which calls load():

Robotics-Object-Pose-Estimation/Model/pose_estimation/pose_estimation_estimator.py

Lines 103 to 123 in 7558d74

def load(self, path):
"""Load Estimator from path
Args:
path (str): full path to the serialized estimator
label_id (int): corresponds to the label id in the captures_*.json folder minus 1.
"""
self.logger.info(f"loading checkpoint from file")
checkpoint = torch.load(path, map_location=self.device)
self.model.load_state_dict(checkpoint["model"])
loaded_config = copy.deepcopy(checkpoint["config"])
stored_config = copy.deepcopy(self.config)
del stored_config["checkpoint"]["load_dir_checkpoint"]
if stored_config != loaded_config:
self.logger.warning(
f"Found difference in estimator config."
f"Estimator loaded from {path} was trained using config: "
f"{loaded_config}. However, the current config is: "
f"{self.config}."
)

Or, if you're using Docker, you may investigate using checkpoints.

Hope this helps!

from robotics-object-pose-estimation.

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