From 4d3bb4dd74f76e6f4cdfeb2b655f3d6020517180 Mon Sep 17 00:00:00 2001
From: MedericFourmy <mederic.fourmy@gmail.com>
Date: Tue, 31 Oct 2023 05:57:36 -0400
Subject: [PATCH] fix omegaconf parsing issue: Union types syntax | only
 supported in 3.10

---
 .../megapose/inference/types.py               |  3 +-
 tests/test_omega_conf.py                      | 29 +++++++++++++++++++
 2 files changed, 31 insertions(+), 1 deletion(-)
 create mode 100644 tests/test_omega_conf.py

diff --git a/happypose/pose_estimators/megapose/inference/types.py b/happypose/pose_estimators/megapose/inference/types.py
index 36d74d1b..23c73c10 100644
--- a/happypose/pose_estimators/megapose/inference/types.py
+++ b/happypose/pose_estimators/megapose/inference/types.py
@@ -17,6 +17,7 @@
 from __future__ import annotations
 
 # Standard Library
+from typing import Union
 from dataclasses import dataclass
 
 # Third Party
@@ -93,7 +94,7 @@ class InferenceConfig:
     n_refiner_iterations: int = 5
     n_pose_hypotheses: int = 5
     run_depth_refiner: bool = False
-    depth_refiner: str | None = None  # ['icp', 'teaserpp']
+    depth_refiner: Union[str, None] = None  # ['icp', 'teaserpp']
     bsz_objects: int = 16  # How many parallel refiners to run
     bsz_images: int = 288  # How many images to push through coarse model
 
diff --git a/tests/test_omega_conf.py b/tests/test_omega_conf.py
new file mode 100644
index 00000000..444c084c
--- /dev/null
+++ b/tests/test_omega_conf.py
@@ -0,0 +1,29 @@
+from happypose.pose_estimators.megapose.inference.types import InferenceConfig
+
+
+from happypose.pose_estimators.megapose.evaluation.eval_config import (
+    BOPEvalConfig,
+    EvalConfig,
+    FullEvalConfig,
+    HardwareConfig,
+)
+from omegaconf import OmegaConf
+
+
+import unittest
+
+class TestOmegaConf(unittest.TestCase):
+    """
+    Check if megapose config dataclasses are valid.
+    """
+
+    def test_valid_dataclasses(self):
+        OmegaConf.structured(BOPEvalConfig)
+        OmegaConf.structured(HardwareConfig)
+        OmegaConf.structured(InferenceConfig)
+        OmegaConf.structured(EvalConfig)
+        OmegaConf.structured(FullEvalConfig)
+
+
+if __name__ == '__main__':
+    unittest.main()
\ No newline at end of file