fix cache; specify gl version to resolve seg fault for github action

.github/workflows/test.yml

@@ -33,7 +33,7 @@ jobs:
         shell: bash
 
       - name: Cashing of the happypose installation
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ${{ env.CONDA }}/envs
           key:
@@ -67,37 +67,5 @@ jobs:
       - name: Run tests
         run: |
           pip install pytest coverage
-          python tests/test_renderer_panda3d.py
           coverage run -m pytest tests
       - uses: codecov/codecov-action@v3
-
-#      - uses: conda-incubator/setup-miniconda@v2
-#        with:
-#          activate-environment: happypose
-#          environment-file: environment.yml
-#          python-version: ${{ matrix.python-version }}
-#          auto-activate-base: false
-#          miniconda-version: 'latest'
-#      - name: Install happypose
-#        run: |
-#          cd happypose/pose_estimators/cosypose
-#          python setup.py install
-#          cd ../../..
-#          pip install -e .
-#
-#      - name: Install bop toolkit (temporal fix)
-#        run: |
-#          mkdir libs
-#          cd libs
-#          git clone https://github.com/ylabbe/bop_toolkit/ -b dataset-tools
-#          cd bop_toolkit
-#          sed 's/==.*$//' requirements.txt > req_nover.txt
-#          pip install -r req_nover.txt -e .
-
-#      - name: Run tests
-#        run: |
-#          pip install pytest coverage
-#          python tests/test_renderer_panda3d.py
-#          coverage run -m pytest tests
-#      - uses: codecov/codecov-action@v3
-

happypose/toolbox/renderer/panda3d_scene_renderer.py

@@ -63,6 +63,7 @@ def __init__(self) -> None:
         p3d.core.load_prc_file_data(
             __file__,
             "load-display pandagl\n"
+            "gl-version 3 2\n"
             "notify-level-assimp fatal\n"
             "notify-level-egldisplay fatal\n"
             "notify-level-glgsg fatal\n"
@@ -102,10 +103,6 @@ def __init__(self) -> None:
         self.render.set_antialias(p3d.core.AntialiasAttrib.MAuto)
         self.render.set_two_sided(True)
 
-    def finalizeExit(self):
-        """Overwrite to not call sys.exit()"""
-        pass
-
 
 def make_scene_lights(
     ambient_light_color: RgbaColor = (0.1, 0.1, 0.1, 1.0),
@@ -175,9 +172,6 @@ def __init__(
         for label in tqdm(preload_labels, disable=not verbose):
             self.get_object_node(label)
 
-    def __del__(self):
-        self._app.destroy()
-
     def create_new_camera(self, resolution: Resolution) -> Panda3dCamera:
         idx = sum([len(x) for x in self._cameras_pool.values()])
         cam = Panda3dCamera.create(f"camera={idx}", resolution=resolution, app=self._app)

tests/test_renderer_panda3d.py

@@ -51,21 +51,17 @@ def test_simple_render(self):
                 color=(1.0, 1, 1, 1),
             ),
         ]
-        print('rendering start')
         renderings = renderer.render_scene(object_datas, camera_datas, light_datas)
         # import matplotlib.pyplot as plt
         # fig, ax = plt.subplots(1, 1, squeeze=True)  # type: plt.Figure, plt.Axes
         # ax.imshow(renderings[0].rgb)
         # plt.show()
-        print('rendering done')
 
         self.assertEqual(len(renderings), 1)
         rgb = renderings[0].rgb
 
         assert_equal(rgb[rgb.shape[0] // 2, rgb.shape[1] // 2], (255, 0, 0))
         assert_equal(rgb[0, 0], (0, 0, 0))
-        print('test done')
-
 
 
 if __name__ == "__main__":