Solving most of the warnings that are printed while running the tests…

…. Only one is remaining, which would need further investigation as the behavior will change after panda 3.0 version

happypose/pose_estimators/cosypose/cosypose/models/mask_rcnn.py

@@ -12,7 +12,7 @@ def __init__(
         anchor_sizes=((32,), (64,), (128,), (256,), (512,)),
     ):
         assert backbone_str == "resnet50-fpn"
-        backbone = resnet_fpn_backbone("resnet50", pretrained=False)
+        backbone = resnet_fpn_backbone(backbone_name="resnet50", weights=None)
 
         aspect_ratios = ((0.5, 1.0, 2.0),) * len(anchor_sizes)
         rpn_anchor_generator = AnchorGenerator(anchor_sizes, aspect_ratios)

happypose/pose_estimators/cosypose/cosypose/training/train_detector.py

@@ -288,7 +288,8 @@ def lambd(batch):
         gamma=0.1,
     )
     lr_scheduler.last_epoch = start_epoch - 1
-    lr_scheduler.step()
+    # This led to a warning in newer version of PyTorch?
+    #lr_scheduler.step()
 
     for epoch in range(start_epoch, end_epoch):
         meters_train = defaultdict(AverageValueMeter)

happypose/toolbox/inference/utils.py

@@ -178,7 +178,7 @@ def create_instance_id(df: pd.DataFrame) -> pd.DataFrame:
 
     df = inputs.infos
     df = df.groupby(["batch_im_id", "label"], group_keys=False).apply(
-        lambda df: create_instance_id(df),
+        lambda df: create_instance_id(df), include_groups=True
     )
     inputs.infos = df
     return inputs

tests/test_batch_renderer_panda3d.py

@@ -8,7 +8,7 @@
 import torch
 from numpy.testing import assert_array_less as np_assert_array_less
 from numpy.testing import assert_equal as np_assert_equal
-from torch.testing import assert_allclose as tr_assert_allclose
+from torch.testing import assert_close as tr_assert_close
 
 from happypose.toolbox.datasets.object_dataset import RigidObject, RigidObjectDataset
 from happypose.toolbox.lib3d.transform import Transform
@@ -113,11 +113,11 @@ def test_batch_renderer(self, device):
         assert renderings.binary_masks.dtype == torch.bool
 
         # Renders from 2 identical cams are equals
-        assert tr_assert_allclose(renderings.rgbs[0], renderings.rgbs[1]) is None
-        assert tr_assert_allclose(renderings.normals[0], renderings.normals[1]) is None
-        assert tr_assert_allclose(renderings.depths[0], renderings.depths[1]) is None
+        assert tr_assert_close(renderings.rgbs[0], renderings.rgbs[1]) is None
+        assert tr_assert_close(renderings.normals[0], renderings.normals[1]) is None
+        assert tr_assert_close(renderings.depths[0], renderings.depths[1]) is None
         assert (
-            tr_assert_allclose(renderings.binary_masks[0], renderings.binary_masks[1])
+            tr_assert_close(renderings.binary_masks[0], renderings.binary_masks[1])
             is None
         )
 

tests/test_cosypose_detector_training.py

@@ -350,7 +350,8 @@ def lambd(batch):
         gamma=0.1,
     )
     lr_scheduler.last_epoch = start_epoch - 1
-    lr_scheduler.step()
+    # This led to a warning in newer version of Py
+    # lr_scheduler.step()
 
     for epoch in range(start_epoch, end_epoch):
         meters_train = defaultdict(AverageValueMeter)

tests/test_renderer_bullet.py

@@ -7,7 +7,7 @@
 import torch
 from numpy.testing import assert_array_less as np_assert_array_less
 from numpy.testing import assert_equal as np_assert_equal
-from torch.testing import assert_allclose as tr_assert_allclose
+from torch.testing import assert_close as tr_assert_close
 
 from happypose.toolbox.datasets.object_dataset import RigidObject, RigidObjectDataset
 from happypose.toolbox.lib3d.transform import Transform
@@ -206,10 +206,10 @@ def test_batch_renderer(self, device):
         assert renderings.binary_masks.dtype == torch.bool
 
         # Renders from 2 identical cams are equals
-        assert tr_assert_allclose(renderings.rgbs[0], renderings.rgbs[1]) is None
-        assert tr_assert_allclose(renderings.depths[0], renderings.depths[1]) is None
+        assert tr_assert_close(renderings.rgbs[0], renderings.rgbs[1]) is None
+        assert tr_assert_close(renderings.depths[0], renderings.depths[1]) is None
         assert (
-            tr_assert_allclose(renderings.binary_masks[0], renderings.binary_masks[1])
+            tr_assert_close(renderings.binary_masks[0], renderings.binary_masks[1])
             is None
         )
 

tests/test_scene_renderer_panda3d.py

@@ -8,7 +8,7 @@
 import pytest
 from numpy.testing import assert_array_less as np_assert_array_less
 from numpy.testing import assert_equal as np_assert_equal
-from torch.testing import assert_allclose as tr_assert_allclose
+from torch.testing import assert_close as tr_assert_close
 
 from happypose.toolbox.datasets.object_dataset import RigidObject, RigidObjectDataset
 from happypose.toolbox.lib3d.transform import Transform
@@ -91,11 +91,11 @@ def test_scene_renderer(self, device):
         assert len(renderings) == self.Nc
 
         # render from 2 identical cams are equals
-        assert tr_assert_allclose(renderings[0].rgb, renderings[1].rgb) is None
-        assert tr_assert_allclose(renderings[0].normals, renderings[1].normals) is None
-        assert tr_assert_allclose(renderings[0].depth, renderings[1].depth) is None
+        assert tr_assert_close(renderings[0].rgb, renderings[1].rgb) is None
+        assert tr_assert_close(renderings[0].normals, renderings[1].normals) is None
+        assert tr_assert_close(renderings[0].depth, renderings[1].depth) is None
         assert (
-            tr_assert_allclose(renderings[0].binary_mask, renderings[1].binary_mask)
+            tr_assert_close(renderings[0].binary_mask, renderings[1].binary_mask)
             is None
         )