From 84fad3ae8c3804bbea0e77f5818b94934bfb39de Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 18 Jul 2024 13:46:59 +0200
Subject: [PATCH 1/6] torch: always with cuda

---
 .github/workflows/pip-test.yml    |    2 +-
 .github/workflows/poetry-test.yml |    2 +-
 README.md                         |    6 +-
 environment.yml                   |    6 +-
 poetry.lock                       | 1216 +++++++++++++----------------
 pyproject.toml                    |   25 +-
 6 files changed, 567 insertions(+), 690 deletions(-)

diff --git a/.github/workflows/pip-test.yml b/.github/workflows/pip-test.yml
index 44fbec69..1cbccea3 100644
--- a/.github/workflows/pip-test.yml
+++ b/.github/workflows/pip-test.yml
@@ -30,7 +30,7 @@ jobs:
         run: pip install -U pip
 
       - name: Install happypose
-        run: pip install ".[cpu,multiview,pypi]" --extra-index-url https://download.pytorch.org/whl/cpu
+        run: pip install ".[multiview,pypi]"
 
       - name: Download pre-trained models required for tests
         run: |
diff --git a/.github/workflows/poetry-test.yml b/.github/workflows/poetry-test.yml
index b8f8272e..83911ba5 100644
--- a/.github/workflows/poetry-test.yml
+++ b/.github/workflows/poetry-test.yml
@@ -31,7 +31,7 @@ jobs:
           cache: poetry
 
       - name: Install happypose
-        run: poetry install --with dev -E cpu -E pypi -E multiview
+        run: poetry install --with dev -E pypi -E multiview
 
       - name: Download pre-trained models required for tests
         run: |
diff --git a/README.md b/README.md
index 114c0b9a..aa801f34 100644
--- a/README.md
+++ b/README.md
@@ -39,15 +39,13 @@ git clone --branch dev --recurse-submodules https://github.com/agimus-project/ha
 cd happypose
 python -m venv .venv
 source .venv/bin/activate
-pip install .[pypi,cpu] --extra-index-url https://download.pytorch.org/whl/cpu
+pip install .[pypi]
 ```
 
 ### Install extras:
 
-- `cpu`: required to get pytorch CPU from PyPI (don't use this for GPU or with conda)
-- `gpu`: required to get pytorch GPU from PyPI (don't use this for CPU or with conda)
 - `multiview`: installs cosypose c++ extension
-- `pypi`: install pinocchio & opencv from PyPI (don't use this with conda)
+- `pypi`: install torch, pinocchio & opencv from PyPI (don't use this with conda)
 
 ## Create data directory
 
diff --git a/environment.yml b/environment.yml
index 6616f89b..01883453 100644
--- a/environment.yml
+++ b/environment.yml
@@ -7,11 +7,9 @@ channels:
    - defaults
 dependencies:
   - pytorch-cuda==12.1
-  - python=3.9
   - pip
-  - pytorch==2.1
-  - torchvision==0.16
-  - mkl==2024.0.0
+  - pytorch
+  - torchvision
   - geckodriver
   - firefox
   - opencv
diff --git a/poetry.lock b/poetry.lock
index d2af43d8..d864f13c 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -150,13 +150,13 @@ files = [
 
 [[package]]
 name = "bokeh"
-version = "3.4.1"
+version = "3.4.2"
 description = "Interactive plots and applications in the browser from Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "bokeh-3.4.1-py3-none-any.whl", hash = "sha256:1e3c502a0a8205338fc74dadbfa321f8a0965441b39501e36796a47b4017b642"},
-    {file = "bokeh-3.4.1.tar.gz", hash = "sha256:d824961e4265367b0750ce58b07e564ad0b83ca64b335521cd3421e9b9f10d89"},
+    {file = "bokeh-3.4.2-py3-none-any.whl", hash = "sha256:931a43ee59dbf1720383ab904f8205e126b85561aac55592415b800c96f1b0eb"},
+    {file = "bokeh-3.4.2.tar.gz", hash = "sha256:a16d5cc0abb93d2d270d70fc35851f3e1b9208814a985a4678e0ba5ef2d9cd42"},
 ]
 
 [package.dependencies]
@@ -205,13 +205,13 @@ files = [
 
 [[package]]
 name = "certifi"
-version = "2024.6.2"
+version = "2024.7.4"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "certifi-2024.6.2-py3-none-any.whl", hash = "sha256:ddc6c8ce995e6987e7faf5e3f1b02b302836a0e5d98ece18392cb1a36c72ad56"},
-    {file = "certifi-2024.6.2.tar.gz", hash = "sha256:3cd43f1c6fa7dedc5899d69d3ad0398fd018ad1a17fba83ddaf78aa46c747516"},
+    {file = "certifi-2024.7.4-py3-none-any.whl", hash = "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90"},
+    {file = "certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b"},
 ]
 
 [[package]]
@@ -728,63 +728,63 @@ url = "happypose/pose_estimators/cosypose"
 
 [[package]]
 name = "coverage"
-version = "7.5.3"
+version = "7.6.0"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [[package]]
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 ]
 
 [package.extras]
-protobuf = ["grpcio-tools (>=1.64.1)"]
+protobuf = ["grpcio-tools (>=1.65.1)"]
 
 [[package]]
 name = "h11"
@@ -1430,13 +1426,13 @@ socks = ["socksio (==1.*)"]
 
 [[package]]
 name = "identify"
-version = "2.5.36"
+version = "2.6.0"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -1455,13 +1451,13 @@ files = [
 
 [[package]]
 name = "imageio"
-version = "2.34.1"
+version = "2.34.2"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1498,22 +1494,22 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "7.1.0"
+version = "8.0.0"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
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 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 perf = ["ipython"]
-testing = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
+test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
 
 [[package]]
 name = "importlib-resources"
@@ -1548,7 +1544,7 @@ files = [
 name = "intel-openmp"
 version = "2021.4.0"
 description = "Intel OpenMP* Runtime Library"
-optional = false
+optional = true
 python-versions = "*"
 files = [
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@@ -1597,13 +1593,13 @@ test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.22)", "pa
 
 [[package]]
 name = "ipython"
-version = "8.25.0"
+version = "8.26.0"
 description = "IPython: Productive Interactive Computing"
 optional = false
 python-versions = ">=3.10"
 files = [
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 ]
 
 [package.dependencies]
@@ -1630,7 +1626,7 @@ nbformat = ["nbformat"]
 notebook = ["ipywidgets", "notebook"]
 parallel = ["ipyparallel"]
 qtconsole = ["qtconsole"]
-test = ["pickleshare", "pytest", "pytest-asyncio (<0.22)", "testpath"]
+test = ["packaging", "pickleshare", "pytest", "pytest-asyncio (<0.22)", "testpath"]
 test-extra = ["curio", "ipython[test]", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.23)", "pandas", "trio"]
 
 [[package]]
@@ -1695,7 +1691,7 @@ files = [
 name = "jsonpatch"
 version = "1.33"
 description = "Apply JSON-Patches (RFC 6902)"
-optional = false
+optional = true
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*"
 files = [
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@@ -1709,7 +1705,7 @@ jsonpointer = ">=1.9"
 name = "jsonpointer"
 version = "3.0.0"
 description = "Identify specific nodes in a JSON document (RFC 6901)"
-optional = false
+optional = true
 python-versions = ">=3.7"
 files = [
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@@ -1718,13 +1714,13 @@ files = [
 
 [[package]]
 name = "jsonschema"
-version = "4.22.0"
+version = "4.23.0"
 description = "An implementation of JSON Schema validation for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "jsonschema-4.23.0.tar.gz", hash = "sha256:d71497fef26351a33265337fa77ffeb82423f3ea21283cd9467bb03999266bc4"},
 ]
 
 [package.dependencies]
@@ -1735,7 +1731,7 @@ rpds-py = ">=0.7.1"
 
 [package.extras]
 format = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3987", "uri-template", "webcolors (>=1.11)"]
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+format-nongpl = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3986-validator (>0.1.0)", "uri-template", "webcolors (>=24.6.0)"]
 
 [[package]]
 name = "jsonschema-specifications"
@@ -2016,40 +2012,40 @@ files = [
 
 [[package]]
 name = "matplotlib"
-version = "3.9.0"
+version = "3.9.1"
 description = "Python plotting package"
 optional = false
 python-versions = ">=3.9"
 files = [
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+    {file = "matplotlib-3.9.1.tar.gz", hash = "sha256:de06b19b8db95dd33d0dc17c926c7c9ebed9f572074b6fac4f65068a6814d010"},
 ]
 
 [package.dependencies]
@@ -2135,7 +2131,7 @@ u-msgpack-python = ">=2.4.1"
 name = "mkl"
 version = "2021.4.0"
 description = "Intel® oneAPI Math Kernel Library"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "mkl-2021.4.0-py2.py3-none-macosx_10_15_x86_64.macosx_11_0_x86_64.whl", hash = "sha256:67460f5cd7e30e405b54d70d1ed3ca78118370b65f7327d495e9c8847705e2fb"},
@@ -2153,7 +2149,7 @@ tbb = "==2021.*"
 name = "mpmath"
 version = "1.3.0"
 description = "Python library for arbitrary-precision floating-point arithmetic"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "mpmath-1.3.0-py3-none-any.whl", hash = "sha256:a0b2b9fe80bbcd81a6647ff13108738cfb482d481d826cc0e02f5b35e5c88d2c"},
@@ -2312,7 +2308,7 @@ files = [
 name = "nvidia-cublas-cu12"
 version = "12.1.3.1"
 description = "CUBLAS native runtime libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cublas_cu12-12.1.3.1-py3-none-manylinux1_x86_64.whl", hash = "sha256:ee53ccca76a6fc08fb9701aa95b6ceb242cdaab118c3bb152af4e579af792728"},
@@ -2323,7 +2319,7 @@ files = [
 name = "nvidia-cuda-cupti-cu12"
 version = "12.1.105"
 description = "CUDA profiling tools runtime libs."
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cuda_cupti_cu12-12.1.105-py3-none-manylinux1_x86_64.whl", hash = "sha256:e54fde3983165c624cb79254ae9818a456eb6e87a7fd4d56a2352c24ee542d7e"},
@@ -2334,7 +2330,7 @@ files = [
 name = "nvidia-cuda-nvrtc-cu12"
 version = "12.1.105"
 description = "NVRTC native runtime libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cuda_nvrtc_cu12-12.1.105-py3-none-manylinux1_x86_64.whl", hash = "sha256:339b385f50c309763ca65456ec75e17bbefcbbf2893f462cb8b90584cd27a1c2"},
@@ -2345,7 +2341,7 @@ files = [
 name = "nvidia-cuda-runtime-cu12"
 version = "12.1.105"
 description = "CUDA Runtime native Libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cuda_runtime_cu12-12.1.105-py3-none-manylinux1_x86_64.whl", hash = "sha256:6e258468ddf5796e25f1dc591a31029fa317d97a0a94ed93468fc86301d61e40"},
@@ -2356,7 +2352,7 @@ files = [
 name = "nvidia-cudnn-cu12"
 version = "8.9.2.26"
 description = "cuDNN runtime libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cudnn_cu12-8.9.2.26-py3-none-manylinux1_x86_64.whl", hash = "sha256:5ccb288774fdfb07a7e7025ffec286971c06d8d7b4fb162525334616d7629ff9"},
@@ -2369,7 +2365,7 @@ nvidia-cublas-cu12 = "*"
 name = "nvidia-cufft-cu12"
 version = "11.0.2.54"
 description = "CUFFT native runtime libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cufft_cu12-11.0.2.54-py3-none-manylinux1_x86_64.whl", hash = "sha256:794e3948a1aa71fd817c3775866943936774d1c14e7628c74f6f7417224cdf56"},
@@ -2380,7 +2376,7 @@ files = [
 name = "nvidia-curand-cu12"
 version = "10.3.2.106"
 description = "CURAND native runtime libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_curand_cu12-10.3.2.106-py3-none-manylinux1_x86_64.whl", hash = "sha256:9d264c5036dde4e64f1de8c50ae753237c12e0b1348738169cd0f8a536c0e1e0"},
@@ -2391,7 +2387,7 @@ files = [
 name = "nvidia-cusolver-cu12"
 version = "11.4.5.107"
 description = "CUDA solver native runtime libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cusolver_cu12-11.4.5.107-py3-none-manylinux1_x86_64.whl", hash = "sha256:8a7ec542f0412294b15072fa7dab71d31334014a69f953004ea7a118206fe0dd"},
@@ -2407,7 +2403,7 @@ nvidia-nvjitlink-cu12 = "*"
 name = "nvidia-cusparse-cu12"
 version = "12.1.0.106"
 description = "CUSPARSE native runtime libraries"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_cusparse_cu12-12.1.0.106-py3-none-manylinux1_x86_64.whl", hash = "sha256:f3b50f42cf363f86ab21f720998517a659a48131e8d538dc02f8768237bd884c"},
@@ -2421,7 +2417,7 @@ nvidia-nvjitlink-cu12 = "*"
 name = "nvidia-nccl-cu12"
 version = "2.20.5"
 description = "NVIDIA Collective Communication Library (NCCL) Runtime"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_nccl_cu12-2.20.5-py3-none-manylinux2014_aarch64.whl", hash = "sha256:1fc150d5c3250b170b29410ba682384b14581db722b2531b0d8d33c595f33d01"},
@@ -2430,20 +2426,20 @@ files = [
 
 [[package]]
 name = "nvidia-nvjitlink-cu12"
-version = "12.5.40"
+version = "12.5.82"
 description = "Nvidia JIT LTO Library"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
-    {file = "nvidia_nvjitlink_cu12-12.5.40-py3-none-manylinux2014_x86_64.whl", hash = "sha256:d9714f27c1d0f0895cd8915c07a87a1d0029a0aa36acaf9156952ec2a8a12189"},
-    {file = "nvidia_nvjitlink_cu12-12.5.40-py3-none-win_amd64.whl", hash = "sha256:c3401dc8543b52d3a8158007a0c1ab4e9c768fcbd24153a48c86972102197ddd"},
+    {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-manylinux2014_x86_64.whl", hash = "sha256:f9b37bc5c8cf7509665cb6ada5aaa0ce65618f2332b7d3e78e9790511f111212"},
+    {file = "nvidia_nvjitlink_cu12-12.5.82-py3-none-win_amd64.whl", hash = "sha256:e782564d705ff0bf61ac3e1bf730166da66dd2fe9012f111ede5fc49b64ae697"},
 ]
 
 [[package]]
 name = "nvidia-nvtx-cu12"
 version = "12.1.105"
 description = "NVIDIA Tools Extension"
-optional = false
+optional = true
 python-versions = ">=3"
 files = [
     {file = "nvidia_nvtx_cu12-12.1.105-py3-none-manylinux1_x86_64.whl", hash = "sha256:dc21cf308ca5691e7c04d962e213f8a4aa9bbfa23d95412f452254c2caeb09e5"},
@@ -2505,18 +2501,18 @@ werkzeug = ">=2.2.3"
 
 [[package]]
 name = "opencv-contrib-python"
-version = "4.10.0.82"
+version = "4.10.0.84"
 description = "Wrapper package for OpenCV python bindings."
 optional = true
 python-versions = ">=3.6"
 files = [
-    {file = "opencv-contrib-python-4.10.0.82.tar.gz", hash = "sha256:5ff1d7be59f53f0fefb60f92d31ba3a4287a82e304d55ed0d37759100447d991"},
-    {file = "opencv_contrib_python-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:2a0d7316be94e175077d0deb30e8eec8c02eff2c00d26523232eef9055ab9818"},
-    {file = "opencv_contrib_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:5d2f4de2528ecf692113269538b4fd58b115f65a05394319e2ef65bd0161b574"},
-    {file = "opencv_contrib_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3ef43af7f9e37b0f01c6f9a3e1e67e0ff4a29a23c2640c02103d60cd99de624b"},
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 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
@@ -3693,8 +3693,8 @@ threadpoolctl = ">=3.1.0"
 
 [package.extras]
 benchmark = ["matplotlib (>=3.3.4)", "memory_profiler (>=0.57.0)", "pandas (>=1.1.5)"]
-build = ["cython (>=3.0.10)", "meson-python (>=0.15.0)", "numpy (>=1.19.5)", "scipy (>=1.6.0)"]
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+build = ["cython (>=3.0.10)", "meson-python (>=0.16.0)", "numpy (>=1.19.5)", "scipy (>=1.6.0)"]
+docs = ["Pillow (>=7.1.2)", "matplotlib (>=3.3.4)", "memory_profiler (>=0.57.0)", "numpydoc (>=1.2.0)", "pandas (>=1.1.5)", "plotly (>=5.14.0)", "polars (>=0.20.23)", "pooch (>=1.6.0)", "pydata-sphinx-theme (>=0.15.3)", "scikit-image (>=0.17.2)", "seaborn (>=0.9.0)", "sphinx (>=7.3.7)", "sphinx-copybutton (>=0.5.2)", "sphinx-design (>=0.5.0)", "sphinx-gallery (>=0.16.0)", "sphinx-prompt (>=1.4.0)", "sphinx-remove-toctrees (>=1.0.0.post1)", "sphinxcontrib-sass (>=0.3.4)", "sphinxext-opengraph (>=0.9.1)"]
 examples = ["matplotlib (>=3.3.4)", "pandas (>=1.1.5)", "plotly (>=5.14.0)", "pooch (>=1.6.0)", "scikit-image (>=0.17.2)", "seaborn (>=0.9.0)"]
 install = ["joblib (>=1.2.0)", "numpy (>=1.19.5)", "scipy (>=1.6.0)", "threadpoolctl (>=3.1.0)"]
 maintenance = ["conda-lock (==2.5.6)"]
@@ -3765,13 +3765,13 @@ stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
 
 [[package]]
 name = "selenium"
-version = "4.21.0"
-description = ""
+version = "4.22.0"
+description = "Official Python bindings for Selenium WebDriver"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -3780,21 +3780,23 @@ trio = ">=0.17,<1.0"
 trio-websocket = ">=0.9,<1.0"
 typing_extensions = ">=4.9.0"
 urllib3 = {version = ">=1.26,<3", extras = ["socks"]}
+websocket-client = ">=1.8.0"
 
 [[package]]
 name = "setuptools"
-version = "70.0.0"
+version = "71.0.1"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
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 [[package]]
 name = "simplejson"
@@ -3960,27 +3962,27 @@ files = [
 
 [[package]]
 name = "sphinx"
-version = "7.3.7"
+version = "7.4.5"
 description = "Python documentation generator"
 optional = false
 python-versions = ">=3.9"
 files = [
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 [package.dependencies]
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-babel = ">=2.9"
-colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.18.1,<0.22"
+babel = ">=2.13"
+colorama = {version = ">=0.4.6", markers = "sys_platform == \"win32\""}
+docutils = ">=0.20,<0.22"
 imagesize = ">=1.3"
-importlib-metadata = {version = ">=4.8", markers = "python_version < \"3.10\""}
-Jinja2 = ">=3.0"
-packaging = ">=21.0"
-Pygments = ">=2.14"
-requests = ">=2.25.0"
-snowballstemmer = ">=2.0"
+importlib-metadata = {version = ">=6.0", markers = "python_version < \"3.10\""}
+Jinja2 = ">=3.1"
+packaging = ">=23.0"
+Pygments = ">=2.17"
+requests = ">=2.30.0"
+snowballstemmer = ">=2.2"
 sphinxcontrib-applehelp = "*"
 sphinxcontrib-devhelp = "*"
 sphinxcontrib-htmlhelp = ">=2.0.0"
@@ -3991,8 +3993,8 @@ tomli = {version = ">=2", markers = "python_version < \"3.11\""}
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
-lint = ["flake8 (>=3.5.0)", "importlib_metadata", "mypy (==1.9.0)", "pytest (>=6.0)", "ruff (==0.3.7)", "sphinx-lint", "tomli", "types-docutils", "types-requests"]
-test = ["cython (>=3.0)", "defusedxml (>=0.7.1)", "pytest (>=6.0)", "setuptools (>=67.0)"]
+lint = ["flake8 (>=6.0)", "importlib-metadata (>=6.0)", "mypy (==1.10.1)", "pytest (>=6.0)", "ruff (==0.5.2)", "sphinx-lint (>=0.9)", "tomli (>=2)", "types-docutils (==0.21.0.20240711)", "types-requests (>=2.30.0)"]
+test = ["cython (>=3.0)", "defusedxml (>=0.7.1)", "pytest (>=8.0)", "setuptools (>=70.0)", "typing_extensions (>=4.9)"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
@@ -4109,17 +4111,20 @@ tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
 
 [[package]]
 name = "sympy"
-version = "1.12.1"
+version = "1.13.0"
 description = "Computer algebra system (CAS) in Python"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
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+    {file = "sympy-1.13.0-py3-none-any.whl", hash = "sha256:6b0b32a4673fb91bd3cac3b55406c8e01d53ae22780be467301cc452f6680c92"},
+    {file = "sympy-1.13.0.tar.gz", hash = "sha256:3b6af8f4d008b9a1a6a4268b335b984b23835f26d1d60b0526ebc71d48a25f57"},
 ]
 
 [package.dependencies]
-mpmath = ">=1.1.0,<1.4.0"
+mpmath = ">=1.1.0,<1.4"
+
+[package.extras]
+dev = ["hypothesis (>=6.70.0)", "pytest (>=7.1.0)"]
 
 [[package]]
 name = "tabulate"
@@ -4137,26 +4142,26 @@ widechars = ["wcwidth"]
 
 [[package]]
 name = "tbb"
-version = "2021.12.0"
+version = "2021.13.0"
 description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
-optional = false
+optional = true
 python-versions = "*"
 files = [
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 ]
 
 [[package]]
 name = "tenacity"
-version = "8.4.1"
+version = "8.5.0"
 description = "Retry code until it succeeds"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
@@ -4209,13 +4214,13 @@ files = [
 
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+version = "2024.7.2"
 description = "Read and write TIFF files"
 optional = false
 python-versions = ">=3.9"
 files = [
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-url = "https://download.pytorch.org/whl/cpu"
-reference = "torch_cpu"
-
 [[package]]
 name = "torch"
 version = "2.3.1"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
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+optional = true
 python-versions = ">=3.8.0"
 files = [
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 name = "torchnet"
 version = "0.0.4"
 description = "an abstraction to train neural networks"
-optional = false
+optional = true
 python-versions = "*"
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@@ -4407,73 +4338,41 @@ dev = ["parameterized", "pyre-check", "pytest", "pytest-cov", "torchsnapshot-nig
 
 [[package]]
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-description = "image and video datasets and models for torch deep learning"
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 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
-requests = "*"
-torch = "2.1.0"
+torch = "2.3.1"
 
 [package.extras]
 scipy = ["scipy"]
 
-[package.source]
-type = "legacy"
-url = "https://download.pytorch.org/whl/cpu"
-reference = "torch_cpu"
-
 [[package]]
 name = "tornado"
 version = "6.4.1"
@@ -4536,6 +4435,7 @@ description = "Functions for 3D coordinate transformations"
 optional = false
 python-versions = ">=3.6"
 files = [
+    {file = "transforms3d-0.4.2-py3-none-any.whl", hash = "sha256:1c70399d9e9473ecc23311fd947f727f7c69ed0b063244828c383aa1aefa5941"},
     {file = "transforms3d-0.4.2.tar.gz", hash = "sha256:e8b5df30eaedbee556e81c6938e55aab5365894e47d0a17615d7db7fd2393680"},
 ]
 
@@ -4564,13 +4464,13 @@ test = ["autopep8 (<2)", "coveralls", "ezdxf", "pyinstrument", "pymeshlab", "pyt
 
 [[package]]
 name = "trio"
-version = "0.25.1"
+version = "0.26.0"
 description = "A friendly Python library for async concurrency and I/O"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "trio-0.25.1-py3-none-any.whl", hash = "sha256:e42617ba091e7b2e50c899052e83a3c403101841de925187f61e7b7eaebdf3fb"},
-    {file = "trio-0.25.1.tar.gz", hash = "sha256:9f5314f014ea3af489e77b001861c535005c3858d38ec46b6b071ebfa339d7fb"},
+    {file = "trio-0.26.0-py3-none-any.whl", hash = "sha256:bb9c1b259591af941fccfbabbdc65bc7ed764bd2db76428454c894cd5e3d2032"},
+    {file = "trio-0.26.0.tar.gz", hash = "sha256:67c5ec3265dd4abc7b1d1ab9ca4fe4c25b896f9c93dac73713778adab487f9c4"},
 ]
 
 [package.dependencies]
@@ -4602,7 +4502,7 @@ wsproto = ">=0.14"
 name = "triton"
 version = "2.3.1"
 description = "A language and compiler for custom Deep Learning operations"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "triton-2.3.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3c84595cbe5e546b1b290d2a58b1494df5a2ef066dd890655e5b8a8a92205c33"},
@@ -4691,13 +4591,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.2"
+version = "20.26.3"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
-    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
+    {file = "virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589"},
+    {file = "virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a"},
 ]
 
 [package.dependencies]
@@ -4713,7 +4613,7 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 name = "visdom"
 version = "0.2.4"
 description = "A tool for visualizing live, rich data for Torch and Numpy"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "visdom-0.2.4.tar.gz", hash = "sha256:84a911d3c8814a056d54812b381bd938cb44bcfc503a85fe0f701502bb720574"},
@@ -4907,13 +4807,11 @@ doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linke
 test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [extras]
-cpu = ["torch", "torch", "torchvision", "torchvision"]
 evaluation = ["cmeel-teaser-plusplus"]
-gpu = ["torch", "torch", "torchvision", "torchvision"]
 multiview = ["cosypose"]
-pypi = ["opencv-contrib-python", "opencv-python", "pin", "torchtnt"]
+pypi = ["opencv-contrib-python", "opencv-python", "pin", "torch", "torchnet", "torchtnt", "torchvision"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "60dfabc55c7caca34ce6d78507b55bc61faac506c8a6022b80c367724a7ea0b3"
+content-hash = "ce1c2ce07ac33046ca28a512e3c757751e062ccb42e719e37aa9b611abdf5232"
diff --git a/pyproject.toml b/pyproject.toml
index fb6a6144..284cb216 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -55,16 +55,10 @@ scipy = "^1.13.0"
 seaborn = "^0.12.2"
 selenium = "^4.20.0"
 simplejson = "^3.19.2"
-torch = [
-  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "2.1"},
-  {markers = "extra=='gpu'", optional = true, version = "2.1"}
-]
-torchnet = "^0.0.4"
+torch = {optional = true, version = "^2.3"}
+torchnet = {optional = true, version = "^0.0.4"}
 torchtnt = {optional = true, version = "^0.2.4"}
-torchvision = [
-  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "0.16"},
-  {markers = "extra=='gpu'", optional = true, version = "0.16"}
-]
+torchvision = {optional = true, version = "^0.18"}
 tqdm = "^4.66.2"
 transforms3d = "^0.4.1"
 trimesh = "^3.23.5"
@@ -72,11 +66,9 @@ webdataset = "^0.2.57"
 xarray = "^2024.3.0"
 
 [tool.poetry.extras]
-cpu = ["torch", "torchvision"]
 evaluation = ["cmeel-teaser-plusplus"]
-gpu = ["torch", "torchvision"]
 multiview = ["cosypose"]
-pypi = ["opencv-contrib-python", "opencv-python", "pin", "torchtnt"]
+pypi = ["opencv-contrib-python", "opencv-python", "pin", "torch", "torchnet", "torchtnt", "torchvision"]
 
 [tool.poetry.group.dev]
 optional = true
@@ -93,15 +85,6 @@ optional = true
 myst-parser = "^2.0.0"
 sphinx = "^7.3.7"
 
-[[tool.poetry.source]]
-name = "torch_cpu"
-priority = "supplemental"
-url = "https://download.pytorch.org/whl/cpu"
-
-[[tool.poetry.source]]
-name = "PyPI"
-priority = "primary"
-
 [tool.poetry.urls]
 changelog = "https://github.com/agimus-project/happypose/blob/main/CHANGELOG.md"
 

From 531f0f7b32e6af43783b7d93654bfce013c08770 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 18 Jul 2024 13:48:15 +0200
Subject: [PATCH 2/6] pre-commit autoupdate

---
 .pre-commit-config.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 10562540..715af252 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,6 +1,6 @@
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.3.2
+  rev: v0.5.2
   hooks:
   - id: ruff
     args:
@@ -13,7 +13,7 @@ repos:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.5.0
+  rev: v4.6.0
   hooks:
   - id: check-added-large-files
   - id: check-ast

From ab11b52c1e9709e91516a2506e4fe920e5d07661 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 18 Jul 2024 13:51:57 +0200
Subject: [PATCH 3/6] poetry lock

---
 poetry.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/poetry.lock b/poetry.lock
index d864f13c..79d5ef6e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -4814,4 +4814,4 @@ pypi = ["opencv-contrib-python", "opencv-python", "pin", "torch", "torchnet", "t
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "ce1c2ce07ac33046ca28a512e3c757751e062ccb42e719e37aa9b611abdf5232"
+content-hash = "bed9aaecac84ec1276aecedd2079fba19a56eabf98c06815025fd69ed820d6ac"

From 564b929c7c8067a32d2da1f5f9f7dc84533dae2f Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 18 Jul 2024 13:52:09 +0200
Subject: [PATCH 4/6] pre-commit run -a

---
 .../cosypose/training/train_detector.py       |   6 +-
 .../cosypose/cosypose/training/train_pose.py  |   5 +-
 .../megapose/evaluation/bop.py                |  15 +-
 happypose/toolbox/utils/download.py           |   4 +-
 tests/test_batch_renderer_panda3d.py          |   7 +-
 tests/test_cosypose_detector_training.py      |  68 +++---
 tests/test_cosypose_pose_training.py          |  95 ++++-----
 tests/test_evaluation.py                      | 199 +++++++++++-------
 tests/test_scene_renderer_panda3d.py          |   7 +-
 9 files changed, 218 insertions(+), 188 deletions(-)

diff --git a/happypose/pose_estimators/cosypose/cosypose/training/train_detector.py b/happypose/pose_estimators/cosypose/cosypose/training/train_detector.py
index 06db70d9..0cd3b7a7 100644
--- a/happypose/pose_estimators/cosypose/cosypose/training/train_detector.py
+++ b/happypose/pose_estimators/cosypose/cosypose/training/train_detector.py
@@ -231,7 +231,9 @@ def make_datasets(dataset_names):
         logger.info(f"Using pretrained model from {pretrain_path}.")
         model.load_state_dict(torch.load(pretrain_path)["state_dict"])
     elif args.pretrain_coco:
-        state_dict = load_state_dict_from_url('https://download.pytorch.org/models/maskrcnn_resnet50_fpn_coco-bf2d0c1e.pth')
+        state_dict = load_state_dict_from_url(
+            "https://download.pytorch.org/models/maskrcnn_resnet50_fpn_coco-bf2d0c1e.pth"
+        )
 
         def keep(k):
             return "box_predictor" not in k and "mask_predictor" not in k
@@ -289,7 +291,7 @@ def lambd(batch):
     )
     lr_scheduler.last_epoch = start_epoch - 1
     # This led to a warning in newer version of PyTorch?
-    #lr_scheduler.step()
+    # lr_scheduler.step()
 
     for epoch in range(start_epoch, end_epoch):
         meters_train = defaultdict(AverageValueMeter)
diff --git a/happypose/pose_estimators/cosypose/cosypose/training/train_pose.py b/happypose/pose_estimators/cosypose/cosypose/training/train_pose.py
index d9ed2898..2f8543b9 100644
--- a/happypose/pose_estimators/cosypose/cosypose/training/train_pose.py
+++ b/happypose/pose_estimators/cosypose/cosypose/training/train_pose.py
@@ -439,9 +439,7 @@ def train_epoch():
                     max_norm=args.clip_grad_norm,
                     norm_type=2,
                 )
-                meters_train["grad_norm"].add(
-                    torch.as_tensor(total_grad_norm).item()
-                )
+                meters_train["grad_norm"].add(torch.as_tensor(total_grad_norm).item())
 
                 optimizer.step()
                 meters_time["backward"].add(time.time() - t)
@@ -463,7 +461,6 @@ def validation():
                 loss = h(data=sample, meters=meters_val)
                 meters_val["loss_total"].add(loss.item())
 
-
         @torch.no_grad()
         def test():
             model.eval()
diff --git a/happypose/pose_estimators/megapose/evaluation/bop.py b/happypose/pose_estimators/megapose/evaluation/bop.py
index 03ec9226..b386038d 100644
--- a/happypose/pose_estimators/megapose/evaluation/bop.py
+++ b/happypose/pose_estimators/megapose/evaluation/bop.py
@@ -49,6 +49,7 @@
 # Third Party
 from bop_toolkit_lib import inout  # noqa
 
+
 def main():
     parser = argparse.ArgumentParser("Bop evaluation")
     parser.add_argument("--results_path", default="", type=str)
@@ -121,16 +122,16 @@ def convert_results_to_bop(
         print("row =", row)
         obj_id = int(row.label.split("_")[-1])
         if use_pose_score:
-            score = row['pose_score']
+            score = row["pose_score"]
         else:
-            score = row['score']
+            score = row["score"]
         if "time" in row:
-            time = row['time']
+            time = row["time"]
         else:
             time = -1
         pred = dict(
-            scene_id=row['scene_id'],
-            im_id=row['view_id'],
+            scene_id=row["scene_id"],
+            im_id=row["view_id"],
             obj_id=obj_id,
             score=score,
             t=t,
@@ -202,9 +203,7 @@ def run_evaluation(cfg: BOPEvalConfig) -> None:
         csv_path = eval_dir / f"{method}_{cfg.dataset.split('.')[0]}-{cfg.split}.csv"
 
         # pose scores give better AR scores in general
-        convert_results_to_bop(
-            results_path, csv_path, cfg.method, use_pose_score=False
-        )
+        convert_results_to_bop(results_path, csv_path, cfg.method, use_pose_score=False)
 
         if not cfg.convert_only:
             _run_bop_evaluation(csv_path, cfg.eval_dir, eval_detection=False)
diff --git a/happypose/toolbox/utils/download.py b/happypose/toolbox/utils/download.py
index 4fe9baa1..197f5b87 100755
--- a/happypose/toolbox/utils/download.py
+++ b/happypose/toolbox/utils/download.py
@@ -170,9 +170,7 @@ async def main():
 
     if args.ycbv_tests:
         to_dl.append(("ycbv-debug.zip", DOWNLOAD_DIR))
-        to_unzip.append(
-            (DOWNLOAD_DIR / "ycbv-debug.zip", LOCAL_DATA_DIR / "results")
-        )
+        to_unzip.append((DOWNLOAD_DIR / "ycbv-debug.zip", LOCAL_DATA_DIR / "results"))
 
     if args.cosypose_models:
         for model in args.cosypose_models:
diff --git a/tests/test_batch_renderer_panda3d.py b/tests/test_batch_renderer_panda3d.py
index 0fdb44ed..2524823e 100644
--- a/tests/test_batch_renderer_panda3d.py
+++ b/tests/test_batch_renderer_panda3d.py
@@ -115,7 +115,12 @@ def test_batch_renderer(self, device):
         # Renders from 2 identical cams are equals
         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], atol=1e-3, rtol=1e-3) is None
+        assert (
+            tr_assert_close(
+                renderings.depths[0], renderings.depths[1], atol=1e-3, rtol=1e-3
+            )
+            is None
+        )
         assert (
             tr_assert_close(renderings.binary_masks[0], renderings.binary_masks[1])
             is None
diff --git a/tests/test_cosypose_detector_training.py b/tests/test_cosypose_detector_training.py
index a1058201..15cedac7 100644
--- a/tests/test_cosypose_detector_training.py
+++ b/tests/test_cosypose_detector_training.py
@@ -1,32 +1,27 @@
 import os
-import numpy as np
-import pytest 
 
+import numpy as np
+import pytest
 from omegaconf import OmegaConf
 
 from happypose.pose_estimators.cosypose.cosypose.utils.distributed import (
-    get_rank,
     get_world_size,
     init_distributed_mode,
     reduce_dict,
     sync_model,
 )
-
-from happypose.toolbox.utils.logging import get_logger, set_logging_level
+from happypose.toolbox.utils.logging import get_logger
 
 logger = get_logger(__name__)
 
-class TestCosyposeDetectorTraining():
-    
+
+class TestCosyposeDetectorTraining:
     @pytest.fixture(autouse=True)
     def setup(self):
+        args = {"config": "bop-ycbv-synt+real"}
 
-        args = {
-            'config':'bop-ycbv-synt+real'
-        }
-        
         cfg_detector = OmegaConf.create({})
-        
+
         logger.info(
             f"Training with config: {args['config']}",
         )
@@ -82,22 +77,22 @@ def setup(self):
         cfg_detector.classifier_alpha = 1
         cfg_detector.mask_alpha = 1
         cfg_detector.box_reg_alpha = 1
-        if "tless" in args['config']:
+        if "tless" in args["config"]:
             cfg_detector.input_resize = (540, 720)
-        elif "ycbv" in args['config']:
+        elif "ycbv" in args["config"]:
             cfg_detector.input_resize = (480, 640)
-        elif "bop-" in args['config']:
+        elif "bop-" in args["config"]:
             cfg_detector.input_resize = None
         else:
             raise ValueError
 
-        if "bop-" in args['config']:
+        if "bop-" in args["config"]:
             from happypose.pose_estimators.cosypose.cosypose.bop_config import (
                 BOP_CONFIG,
                 PBR_DETECTORS,
             )
 
-            bop_name, train_type = args['config'].split("-")[1:]
+            bop_name, train_type = args["config"].split("-")[1:]
             bop_cfg = BOP_CONFIG[bop_name]
             if train_type == "pbr":
                 cfg_detector.train_ds_names = [(bop_cfg["train_pbr_ds_name"][0], 1)]
@@ -112,7 +107,7 @@ def setup(self):
                 cfg_detector.test_ds_names = bop_cfg["test_ds_name"]
 
         else:
-            raise ValueError(args['config'])
+            raise ValueError(args["config"])
         cfg_detector.val_ds_names = cfg_detector.train_ds_names
 
         cfg_detector.run_id = f"detector-{args['config']}-{run_comment}-{N_RAND}"
@@ -120,17 +115,15 @@ def setup(self):
         N_GPUS = int(os.environ.get("N_PROCS", 1))
         cfg_detector.epoch_size = cfg_detector.epoch_size // N_GPUS
         self.cfg_detector = cfg_detector
-    
+
     def test_detector_training(self):
         train_detector(self.cfg_detector)
-        
+
 
 import functools
 import time
 from collections import defaultdict
 
-import numpy as np
-import simplejson as json
 import torch
 import torch.distributed as dist
 import yaml
@@ -144,18 +137,17 @@ def test_detector_training(self):
 from happypose.pose_estimators.cosypose.cosypose.datasets.detection_dataset import (
     DetectionDataset,
 )
-from happypose.pose_estimators.cosypose.cosypose.integrated.detector import Detector
 
 # Evaluation
-from happypose.pose_estimators.cosypose.cosypose.scripts.run_detection_eval import (
-    run_detection_eval,
+from happypose.pose_estimators.cosypose.cosypose.training.detector_models_cfg import (
+    check_update_config,
+    create_model_detector,
 )
-from happypose.pose_estimators.cosypose.cosypose.utils.distributed import (
-    get_rank,
-    get_world_size,
-    init_distributed_mode,
-    reduce_dict,
-    sync_model,
+from happypose.pose_estimators.cosypose.cosypose.training.maskrcnn_forward_loss import (
+    h_maskrcnn,
+)
+from happypose.pose_estimators.cosypose.cosypose.training.train_detector import (
+    collate_fn,
 )
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
 from happypose.toolbox.datasets.datasets_cfg import make_scene_dataset
@@ -169,11 +161,6 @@ def test_detector_training(self):
     get_total_memory,
 )
 
-from happypose.pose_estimators.cosypose.cosypose.training.detector_models_cfg import check_update_config, create_model_detector
-from happypose.pose_estimators.cosypose.cosypose.training.maskrcnn_forward_loss import h_maskrcnn
-
-from happypose.pose_estimators.cosypose.cosypose.training.train_detector import collate_fn
-
 cudnn.benchmark = True
 logger = get_logger(__name__)
 
@@ -293,7 +280,9 @@ def make_datasets(dataset_names):
         logger.info(f"Using pretrained model from {pretrain_path}.")
         model.load_state_dict(torch.load(pretrain_path)["state_dict"])
     elif args.pretrain_coco:
-        state_dict = load_state_dict_from_url('https://download.pytorch.org/models/maskrcnn_resnet50_fpn_coco-bf2d0c1e.pth')
+        state_dict = load_state_dict_from_url(
+            "https://download.pytorch.org/models/maskrcnn_resnet50_fpn_coco-bf2d0c1e.pth"
+        )
 
         def keep(k):
             return "box_predictor" not in k and "mask_predictor" not in k
@@ -383,7 +372,9 @@ def train_epoch():
                         max_norm=np.inf,
                         norm_type=2,
                     )
-                    meters_train["grad_norm"].add(torch.as_tensor(total_grad_norm).item())
+                    meters_train["grad_norm"].add(
+                        torch.as_tensor(total_grad_norm).item()
+                    )
 
                     optimizer.step()
                     meters_time["backward"].add(time.time() - t)
@@ -444,4 +435,3 @@ def validation():
         log_dict = reduce_dict(log_dict)
 
         dist.barrier()
-
diff --git a/tests/test_cosypose_pose_training.py b/tests/test_cosypose_pose_training.py
index 4dc77a08..95ace819 100644
--- a/tests/test_cosypose_pose_training.py
+++ b/tests/test_cosypose_pose_training.py
@@ -1,7 +1,7 @@
 import os
-import numpy as np
-import pytest 
 
+import numpy as np
+import pytest
 from omegaconf import OmegaConf
 
 from happypose.pose_estimators.cosypose.cosypose.utils.distributed import (
@@ -10,26 +10,22 @@
     reduce_dict,
     sync_model,
 )
-
-from happypose.toolbox.utils.logging import get_logger, set_logging_level
+from happypose.toolbox.utils.logging import get_logger
 
 logger = get_logger(__name__)
 
-class TestCosyposePoseTraining():
-    
+
+class TestCosyposePoseTraining:
     @pytest.fixture(autouse=True)
     def setup(self):
-    
-        args = {
-            'config':'ycbv-refiner-syntonly'
-        }
-        
+        args = {"config": "ycbv-refiner-syntonly"}
+
         cfg_pose = OmegaConf.create({})
-        
+
         logger.info(
             f"Training with config: {args['config']}",
         )
-        if args['config']:
+        if args["config"]:
             logger.info(
                 f"Training with config: {args['config']}",
             )
@@ -92,14 +88,14 @@ def setup(self):
         cfg_pose.n_iterations = 1
         cfg_pose.min_area = None
 
-        if "bop-" in args['config']:
+        if "bop-" in args["config"]:
             from happypose.pose_estimators.cosypose.cosypose.bop_config import (
                 BOP_CONFIG,
                 PBR_COARSE,
                 PBR_REFINER,
             )
 
-            bop_name, train_type, model_type = args['config'].split("-")[1:]
+            bop_name, train_type, model_type = args["config"].split("-")[1:]
             bop_cfg = BOP_CONFIG[bop_name]
             if train_type == "pbr":
                 cfg_pose.train_ds_names = [(bop_cfg["train_pbr_ds_name"][0], 1)]
@@ -128,7 +124,7 @@ def setup(self):
             else:
                 raise ValueError
 
-        elif "ycbv-" in args['config']:
+        elif "ycbv-" in args["config"]:
             cfg_pose.urdf_ds_name = "ycbv"
             cfg_pose.object_ds_name = "ycbv"
             cfg_pose.train_ds_names = [
@@ -140,16 +136,16 @@ def setup(self):
             cfg_pose.test_ds_names = ["ycbv.test.keyframes"]
             cfg_pose.input_resize = (480, 640)
 
-            if args['config'] == "ycbv-refiner-syntonly":
+            if args["config"] == "ycbv-refiner-syntonly":
                 cfg_pose.TCO_input_generator = "gt+noise"
                 cfg_pose.train_ds_names = [("synthetic.ycbv-1M.train", 1)]
-            elif args['config'] == "ycbv-refiner-finetune":
+            elif args["config"] == "ycbv-refiner-finetune":
                 cfg_pose.TCO_input_generator = "gt+noise"
                 cfg_pose.run_id_pretrain = "ycbv-refiner-syntonly--596719"
             else:
-                raise ValueError(args['config'])
+                raise ValueError(args["config"])
 
-        elif "tless-" in args['config']:
+        elif "tless-" in args["config"]:
             cfg_pose.urdf_ds_name = "tless.cad"
             cfg_pose.object_ds_name = "tless.cad"
             cfg_pose.train_ds_names = [
@@ -160,64 +156,63 @@ def setup(self):
             cfg_pose.test_ds_names = ["tless.primesense.test"]
             cfg_pose.input_resize = (540, 720)
 
-            if args['config'] == "tless-coarse":
+            if args["config"] == "tless-coarse":
                 cfg_pose.TCO_input_generator = "fixed"
-            elif args['config'] == "tless-refiner":
+            elif args["config"] == "tless-refiner":
                 cfg_pose.TCO_input_generator = "gt+noise"
 
             # Ablations
-            elif args['config'] == "tless-coarse-ablation-loss":
+            elif args["config"] == "tless-coarse-ablation-loss":
                 cfg_pose.loss_disentangled = False
                 cfg_pose.TCO_input_generator = "fixed"
-            elif args['config'] == "tless-refiner-ablation-loss":
+            elif args["config"] == "tless-refiner-ablation-loss":
                 cfg_pose.loss_disentangled = False
                 cfg_pose.TCO_input_generator = "gt+noise"
 
-            elif args['config'] == "tless-coarse-ablation-network":
+            elif args["config"] == "tless-coarse-ablation-network":
                 cfg_pose.TCO_input_generator = "fixed"
                 cfg_pose.backbone_str = "flownet"
-            elif args['config'] == "tless-refiner-ablation-network":
+            elif args["config"] == "tless-refiner-ablation-network":
                 cfg_pose.TCO_input_generator = "gt+noise"
                 cfg_pose.backbone_str = "flownet"
 
-            elif args['config'] == "tless-coarse-ablation-rot":
+            elif args["config"] == "tless-coarse-ablation-rot":
                 cfg_pose.n_pose_dims = 7
                 cfg_pose.TCO_input_generator = "fixed"
-            elif args['config'] == "tless-refiner-ablation-rot":
+            elif args["config"] == "tless-refiner-ablation-rot":
                 cfg_pose.n_pose_dims = 7
                 cfg_pose.TCO_input_generator = "gt+noise"
 
-            elif args['config'] == "tless-coarse-ablation-augm":
+            elif args["config"] == "tless-coarse-ablation-augm":
                 cfg_pose.TCO_input_generator = "fixed"
                 cfg_pose.rgb_augmentation = False
-            elif args['config'] == "tless-refiner-ablation-augm":
+            elif args["config"] == "tless-refiner-ablation-augm":
                 cfg_pose.TCO_input_generator = "gt+noise"
                 cfg_pose.rgb_augmentation = False
 
             else:
-                raise ValueError(args['config'])
+                raise ValueError(args["config"])
 
         else:
-            raise ValueError(args['config'])
+            raise ValueError(args["config"])
 
         cfg_pose.run_id = f"{args['config']}-{run_comment}-{N_RAND}"
 
         N_GPUS = int(os.environ.get("N_PROCS", 1))
         cfg_pose.epoch_size = cfg_pose.epoch_size // N_GPUS
         self.cfg_pose = cfg_pose
-        
-    @pytest.mark.skip(reason="Currently, run two training tests (i.e. detector and pose) consecutively doesn't work with torch distributed")
+
+    @pytest.mark.skip(
+        reason="Currently, run two training tests (i.e. detector and pose) consecutively doesn't work with torch distributed"
+    )
     def test_pose_training(self):
         train_pose(self.cfg_pose)
- 
- 
- 
+
+
 import functools
 import time
 from collections import defaultdict
-from pathlib import Path
 
-import simplejson as json
 import torch
 import torch.distributed as dist
 import yaml
@@ -227,10 +222,18 @@ def test_pose_training(self):
 from tqdm import tqdm
 
 from happypose.pose_estimators.cosypose.cosypose.config import EXP_DIR
-
-
+from happypose.pose_estimators.cosypose.cosypose.training.pose_forward_loss import (
+    h_pose,
+)
+from happypose.pose_estimators.cosypose.cosypose.training.pose_models_cfg import (
+    check_update_config,
+    create_pose_model_cosypose,
+)
+from happypose.pose_estimators.cosypose.cosypose.training.train_pose import (
+    make_eval_bundle,
+    run_eval,
+)
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
-
 from happypose.toolbox.datasets.datasets_cfg import (
     make_object_dataset,
     make_scene_dataset,
@@ -248,16 +251,10 @@ def test_pose_training(self):
     get_total_memory,
 )
 
-from happypose.pose_estimators.cosypose.cosypose.training.pose_forward_loss import h_pose
-from happypose.pose_estimators.cosypose.cosypose.training.pose_models_cfg import check_update_config, create_pose_model_cosypose
-
-from happypose.pose_estimators.cosypose.cosypose.training.train_pose import make_eval_bundle, run_eval, log
-
 cudnn.benchmark = True
 logger = get_logger(__name__)
 
 
-
 def train_pose(args):
     torch.set_num_threads(1)
 
@@ -521,5 +518,3 @@ def test():
 
         print("waiting on barrier")
         dist.barrier()
-
-            
\ No newline at end of file
diff --git a/tests/test_evaluation.py b/tests/test_evaluation.py
index bbfd8d1d..a1ca9f2b 100644
--- a/tests/test_evaluation.py
+++ b/tests/test_evaluation.py
@@ -1,82 +1,77 @@
-import os
-import pytest
-from pathlib import Path
-
 # Standard Library
 import os
+from pathlib import Path
 from typing import Dict
 
+import pytest
+
 # Third Party
 from omegaconf import OmegaConf
 
 from happypose.pose_estimators.megapose.config import (
+    LOCAL_DATA_DIR,
     RESULTS_DIR,
 )
-from happypose.toolbox.utils.distributed import (
-    get_rank,
-)
-from happypose.pose_estimators.megapose.scripts.run_full_megapose_eval import (
-    create_eval_cfg
-)
+from happypose.pose_estimators.megapose.evaluation.bop import run_evaluation
 from happypose.pose_estimators.megapose.evaluation.eval_config import (
     BOPEvalConfig,
     EvalConfig,
     FullEvalConfig,
     HardwareConfig,
 )
-
-from happypose.pose_estimators.megapose.config import (
-    LOCAL_DATA_DIR,
-)
-
 from happypose.pose_estimators.megapose.evaluation.evaluation import (
     get_save_dir,
 )
-from happypose.pose_estimators.cosypose.cosypose.evaluation.evaluation import run_eval
-
-from happypose.pose_estimators.megapose.evaluation.bop import run_evaluation
-
-from happypose.toolbox.utils.logging import get_logger, set_logging_level
+from happypose.pose_estimators.megapose.scripts.run_full_megapose_eval import (
+    create_eval_cfg,
+)
+from happypose.toolbox.utils.distributed import (
+    get_rank,
+)
+from happypose.toolbox.utils.logging import get_logger
 
 logger = get_logger(__name__)
 
 
-
-class TestCosyPoseEvaluation():
+class TestCosyPoseEvaluation:
     """Unit tests for CosyPose evaluation."""
+
     @pytest.fixture(autouse=True)
     def setUp(self) -> None:
         configuration = {
-            "detector_run_id":"bop_pbr",
-            "coarse_run_id":"coarse-bop-ycbv-pbr--724183",
-            "refiner_run_id":"refiner-bop-ycbv-pbr--604090",
-            "ds_names":["ycbv.bop19"],
-            "result_id":"ycbv-debug",
-            "detection_coarse_types":[["detector","S03_grid"]],
-            "skip_inference":True,
-            "run_bop_eval":True,
+            "detector_run_id": "bop_pbr",
+            "coarse_run_id": "coarse-bop-ycbv-pbr--724183",
+            "refiner_run_id": "refiner-bop-ycbv-pbr--604090",
+            "ds_names": ["ycbv.bop19"],
+            "result_id": "ycbv-debug",
+            "detection_coarse_types": [["detector", "S03_grid"]],
+            "skip_inference": True,
+            "run_bop_eval": True,
         }
-        
+
         conf = OmegaConf.create(configuration)
-        
+
         cfg: FullEvalConfig = OmegaConf.structured(FullEvalConfig)
 
         cfg.hardware = HardwareConfig(
             n_cpus=int(os.environ.get("N_CPUS", 10)),
             n_gpus=int(os.environ.get("WORLD_SIZE", 1)),
         )
-        
+
         cfg = OmegaConf.merge(cfg, conf)
-        
+
         cfg.save_dir = RESULTS_DIR / cfg.result_id
 
         self.cfg = cfg
-        
+
         # Iterate over each dataset
         for ds_name in self.cfg.ds_names:
             # create the EvalConfig objects that we will call `run_eval` on
             eval_configs: Dict[str, EvalConfig] = {}
-            for detection_type, coarse_estimation_type in self.cfg.detection_coarse_types:
+            for (
+                detection_type,
+                coarse_estimation_type,
+            ) in self.cfg.detection_coarse_types:
                 name, cfg_ = create_eval_cfg(
                     self.cfg,
                     detection_type,
@@ -84,48 +79,85 @@ def setUp(self) -> None:
                     ds_name,
                 )
                 eval_configs[name] = cfg_
-        
-        self.eval_cfg = eval_configs
 
+        self.eval_cfg = eval_configs
 
-    
     def test_config(self):
         assert self.eval_cfg is not None
         assert len(self.eval_cfg) == 1
-        assert self.cfg['detector_run_id'] == 'bop_pbr', "Error: detector_run_id is not correct"
-        assert self.cfg['coarse_run_id'] == 'coarse-bop-ycbv-pbr--724183', "Error: coarse_run_id is not correct"
-        assert self.cfg['refiner_run_id'] == 'refiner-bop-ycbv-pbr--604090', "Error: refiner_run_id is not correct"
-        assert self.cfg['ds_name'] == 'ycbv.bop19', "Error: ds_name is not correct"
-        assert self.cfg['inference']['detection_type'] == 'detector', "Error: detection_type is not correct"
-        assert self.cfg['inference']['coarse_estimation_type'] == 'SO3_grid', "Error: coarse_estimation_type is not correct"
-        assert self.cfg['inference']['SO3_grid_size'] == 576, "Error: SO3_grid_size is not correct"
-        assert self.cfg['inference']['n_refiner_iterations'] == 5, "Error: n_refiner_iterations is not correct"
-        assert self.cfg['inference']['n_pose_hypotheses'] == 5, "Error: n_pose_hypotheses is not correct"
-        assert self.cfg['inference']['run_depth_refiner'] == False, "Error: run_depth_refiner is not correct"
-        assert self.cfg['inference']['depth_refiner'] == None, "Error: depth_refiner is not correct"
-        assert self.cfg['inference']['bsz_objects'] == 16, "Error: bsz_objects is not correct"
-        assert self.cfg['inference']['bsz_images'] == 288, "Error: bsz_images is not correct"
-        assert self.cfg['result_id'] == 'ycbv-debug', "Error: result_id is not correct"
-        assert self.cfg['n_dataloader_workers'] == 8, "Error: n_dataloader_workers is not correct"
-        assert self.cfg['n_rendering_workers'] == 8, "Error: n_rendering_workers is not correct"
-        assert self.cfg['n_frames'] == None, "Error: n_frames is not correct"
-        assert self.cfg['batch_size'] == 1, "Error: batch_size is not correct"
-        assert self.cfg['save_dir'] == f'{LOCAL_DATA_DIR}/results/ycbv-debug', "Error: save_dir is not correct"
-        assert self.cfg['bsz_images'] == 256, "Error: bsz_images is not correct"
-        assert self.cfg['bsz_objects'] == 16, "Error: bsz_objects is not correct"
-        assert self.cfg['skip_inference'] == True, "Error: skip_inference is not correct"
-        assert self.cfg['skip_evaluation'] == True, "Error: skip_evaluation is not correct"
-        assert self.cfg['global_batch_size'] == None, "Error: global_batch_size is not correct"
-        assert self.cfg['hardware']['n_cpus'] == 10, "Error: n_cpus is not correct"
-        assert self.cfg['hardware']['n_gpus'] == 1, "Error: n_gpus is not correct"
-        assert self.cfg['debug'] == False, "Error: debug is not correct"
-        assert self.cfg['detection_coarse_types'] == [['detector', 'S03_grid']], "Error: detection_coarse_types is not correct"
-        assert self.cfg['ds_names'] == ['ycbv.bop19'], "Error: ds_names is not correct"
-        assert self.cfg['run_bop_eval'] == True, "Error: run_bop_eval is not correct"
-        assert self.cfg['eval_coarse_also'] == False, "Error: eval_coarse_also is not correct"
-        assert self.cfg['convert_only'] == False, "Error: convert_only is not correct"
-
-    
+        assert (
+            self.cfg["detector_run_id"] == "bop_pbr"
+        ), "Error: detector_run_id is not correct"
+        assert (
+            self.cfg["coarse_run_id"] == "coarse-bop-ycbv-pbr--724183"
+        ), "Error: coarse_run_id is not correct"
+        assert (
+            self.cfg["refiner_run_id"] == "refiner-bop-ycbv-pbr--604090"
+        ), "Error: refiner_run_id is not correct"
+        assert self.cfg["ds_name"] == "ycbv.bop19", "Error: ds_name is not correct"
+        assert (
+            self.cfg["inference"]["detection_type"] == "detector"
+        ), "Error: detection_type is not correct"
+        assert (
+            self.cfg["inference"]["coarse_estimation_type"] == "SO3_grid"
+        ), "Error: coarse_estimation_type is not correct"
+        assert (
+            self.cfg["inference"]["SO3_grid_size"] == 576
+        ), "Error: SO3_grid_size is not correct"
+        assert (
+            self.cfg["inference"]["n_refiner_iterations"] == 5
+        ), "Error: n_refiner_iterations is not correct"
+        assert (
+            self.cfg["inference"]["n_pose_hypotheses"] == 5
+        ), "Error: n_pose_hypotheses is not correct"
+        assert (
+            self.cfg["inference"]["run_depth_refiner"] == False
+        ), "Error: run_depth_refiner is not correct"
+        assert (
+            self.cfg["inference"]["depth_refiner"] == None
+        ), "Error: depth_refiner is not correct"
+        assert (
+            self.cfg["inference"]["bsz_objects"] == 16
+        ), "Error: bsz_objects is not correct"
+        assert (
+            self.cfg["inference"]["bsz_images"] == 288
+        ), "Error: bsz_images is not correct"
+        assert self.cfg["result_id"] == "ycbv-debug", "Error: result_id is not correct"
+        assert (
+            self.cfg["n_dataloader_workers"] == 8
+        ), "Error: n_dataloader_workers is not correct"
+        assert (
+            self.cfg["n_rendering_workers"] == 8
+        ), "Error: n_rendering_workers is not correct"
+        assert self.cfg["n_frames"] == None, "Error: n_frames is not correct"
+        assert self.cfg["batch_size"] == 1, "Error: batch_size is not correct"
+        assert (
+            self.cfg["save_dir"] == f"{LOCAL_DATA_DIR}/results/ycbv-debug"
+        ), "Error: save_dir is not correct"
+        assert self.cfg["bsz_images"] == 256, "Error: bsz_images is not correct"
+        assert self.cfg["bsz_objects"] == 16, "Error: bsz_objects is not correct"
+        assert (
+            self.cfg["skip_inference"] == True
+        ), "Error: skip_inference is not correct"
+        assert (
+            self.cfg["skip_evaluation"] == True
+        ), "Error: skip_evaluation is not correct"
+        assert (
+            self.cfg["global_batch_size"] == None
+        ), "Error: global_batch_size is not correct"
+        assert self.cfg["hardware"]["n_cpus"] == 10, "Error: n_cpus is not correct"
+        assert self.cfg["hardware"]["n_gpus"] == 1, "Error: n_gpus is not correct"
+        assert self.cfg["debug"] == False, "Error: debug is not correct"
+        assert self.cfg["detection_coarse_types"] == [
+            ["detector", "S03_grid"]
+        ], "Error: detection_coarse_types is not correct"
+        assert self.cfg["ds_names"] == ["ycbv.bop19"], "Error: ds_names is not correct"
+        assert self.cfg["run_bop_eval"] == True, "Error: run_bop_eval is not correct"
+        assert (
+            self.cfg["eval_coarse_also"] == False
+        ), "Error: eval_coarse_also is not correct"
+        assert self.cfg["convert_only"] == False, "Error: convert_only is not correct"
+
     # TODO
     # Rajouter un test pour save_dir ?
     # Modifier ensuite pour que le path soit un path temporaire ?
@@ -152,7 +184,9 @@ def test_evaluation_existing_results(self):
                 # Run the bop eval for each type of prediction
                 if self.cfg.run_bop_eval and get_rank() == 0:
                     bop_eval_keys = {"refiner/final", "depth_refiner"}
-                    bop_eval_keys = bop_eval_keys.intersection(set(eval_out["pred_keys"]))
+                    bop_eval_keys = bop_eval_keys.intersection(
+                        set(eval_out["pred_keys"])
+                    )
 
                     for method in bop_eval_keys:
                         if "bop19" not in ds_name:
@@ -170,17 +204,22 @@ def test_evaluation_existing_results(self):
                         bop_eval_cfgs.append(bop_eval_cfg)
 
         assert bop_eval_cfg.results_path == eval_out["results_path"]
-        assert bop_eval_cfg.dataset == 'ycbv.bop19'
-        
+        assert bop_eval_cfg.dataset == "ycbv.bop19"
+
         if get_rank() == 0:
             if self.cfg.run_bop_eval:
                 for bop_eval_cfg in bop_eval_cfgs:
                     scores_pose_path, _ = run_evaluation(bop_eval_cfg)
-                    assert Path(LOCAL_DATA_DIR / "bop_eval_outputs" / f"refiner-final_{bop_eval_cfg.dataset.split('.')[0]}-{bop_eval_cfg.split}" / "scores_bop19.json").is_file()
-                    #assert scores_pose_path.is_file()
+                    assert Path(
+                        LOCAL_DATA_DIR
+                        / "bop_eval_outputs"
+                        / f"refiner-final_{bop_eval_cfg.dataset.split('.')[0]}-{bop_eval_cfg.split}"
+                        / "scores_bop19.json"
+                    ).is_file()
+                    # assert scores_pose_path.is_file()
 
         logger.info(f"Process {get_rank()} reached end of script")
-        
+
     # TODO : Run the inference, then use the results for evaluation
     """
     # The inference shouldn't be tested in this function?
@@ -190,7 +229,7 @@ def eval_out(self, setUp):
         for _save_key, eval_cfg in self.eval_cfg.items():
         # Run the inference
             self.eval_out = run_eval(eval_cfg)
-    
+
     def test_evaluation_inference(self, eval_out):
         bop_eval_cfgs = []
         for ds_name in self.cfg.ds_names:
diff --git a/tests/test_scene_renderer_panda3d.py b/tests/test_scene_renderer_panda3d.py
index 637cee6e..ae31c013 100644
--- a/tests/test_scene_renderer_panda3d.py
+++ b/tests/test_scene_renderer_panda3d.py
@@ -93,7 +93,12 @@ def test_scene_renderer(self, device):
         # render from 2 identical cams are equals
         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, atol=1e-3, rtol=1e-3) is None
+        assert (
+            tr_assert_close(
+                renderings[0].depth, renderings[1].depth, atol=1e-3, rtol=1e-3
+            )
+            is None
+        )
         assert (
             tr_assert_close(renderings[0].binary_mask, renderings[1].binary_mask)
             is None

From 05238f80ba728028e240a3cff019d9256d53e482 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 18 Jul 2024 13:55:26 +0200
Subject: [PATCH 5/6] manual fixes to please ruff

---
 tests/test_cosypose_detector_training.py | 80 +++++++++++------------
 tests/test_cosypose_pose_training.py     | 82 ++++++++++++------------
 tests/test_evaluation.py                 | 45 +++++--------
 3 files changed, 96 insertions(+), 111 deletions(-)

diff --git a/tests/test_cosypose_detector_training.py b/tests/test_cosypose_detector_training.py
index 15cedac7..915387da 100644
--- a/tests/test_cosypose_detector_training.py
+++ b/tests/test_cosypose_detector_training.py
@@ -1,16 +1,55 @@
+import functools
 import os
+import time
+from collections import defaultdict
 
 import numpy as np
 import pytest
+import torch
+import torch.distributed as dist
+import yaml
 from omegaconf import OmegaConf
+from torch.backends import cudnn
+from torch.hub import load_state_dict_from_url
+from torch.utils.data import DataLoader
+from torchnet.meter import AverageValueMeter
+from tqdm import tqdm
+
+from happypose.pose_estimators.cosypose.cosypose.config import EXP_DIR
+from happypose.pose_estimators.cosypose.cosypose.datasets.detection_dataset import (
+    DetectionDataset,
+)
 
+# Evaluation
+from happypose.pose_estimators.cosypose.cosypose.training.detector_models_cfg import (
+    check_update_config,
+    create_model_detector,
+)
+from happypose.pose_estimators.cosypose.cosypose.training.maskrcnn_forward_loss import (
+    h_maskrcnn,
+)
+from happypose.pose_estimators.cosypose.cosypose.training.train_detector import (
+    collate_fn,
+)
 from happypose.pose_estimators.cosypose.cosypose.utils.distributed import (
     get_world_size,
     init_distributed_mode,
     reduce_dict,
     sync_model,
 )
+from happypose.toolbox.datasets.datasets_cfg import make_scene_dataset
+from happypose.toolbox.datasets.scene_dataset import (
+    IterableMultiSceneDataset,
+    RandomIterableSceneDataset,
+)
+
+# from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
 from happypose.toolbox.utils.logging import get_logger
+from happypose.toolbox.utils.resources import (
+    get_cuda_memory,
+    get_gpu_memory,
+    get_total_memory,
+)
 
 logger = get_logger(__name__)
 
@@ -120,47 +159,6 @@ def test_detector_training(self):
         train_detector(self.cfg_detector)
 
 
-import functools
-import time
-from collections import defaultdict
-
-import torch
-import torch.distributed as dist
-import yaml
-from torch.backends import cudnn
-from torch.hub import load_state_dict_from_url
-from torch.utils.data import DataLoader
-from torchnet.meter import AverageValueMeter
-from tqdm import tqdm
-
-from happypose.pose_estimators.cosypose.cosypose.config import EXP_DIR
-from happypose.pose_estimators.cosypose.cosypose.datasets.detection_dataset import (
-    DetectionDataset,
-)
-
-# Evaluation
-from happypose.pose_estimators.cosypose.cosypose.training.detector_models_cfg import (
-    check_update_config,
-    create_model_detector,
-)
-from happypose.pose_estimators.cosypose.cosypose.training.maskrcnn_forward_loss import (
-    h_maskrcnn,
-)
-from happypose.pose_estimators.cosypose.cosypose.training.train_detector import (
-    collate_fn,
-)
-from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
-from happypose.toolbox.datasets.datasets_cfg import make_scene_dataset
-from happypose.toolbox.datasets.scene_dataset import (
-    IterableMultiSceneDataset,
-    RandomIterableSceneDataset,
-)
-from happypose.toolbox.utils.resources import (
-    get_cuda_memory,
-    get_gpu_memory,
-    get_total_memory,
-)
-
 cudnn.benchmark = True
 logger = get_logger(__name__)
 
diff --git a/tests/test_cosypose_pose_training.py b/tests/test_cosypose_pose_training.py
index 95ace819..f627faaf 100644
--- a/tests/test_cosypose_pose_training.py
+++ b/tests/test_cosypose_pose_training.py
@@ -1,16 +1,56 @@
+import functools
 import os
+import time
+from collections import defaultdict
 
 import numpy as np
 import pytest
+import torch
+import torch.distributed as dist
+import yaml
 from omegaconf import OmegaConf
+from torch.backends import cudnn
+from torch.utils.data import DataLoader
+from torchnet.meter import AverageValueMeter
+from tqdm import tqdm
 
+from happypose.pose_estimators.cosypose.cosypose.config import EXP_DIR
+from happypose.pose_estimators.cosypose.cosypose.training.pose_forward_loss import (
+    h_pose,
+)
+from happypose.pose_estimators.cosypose.cosypose.training.pose_models_cfg import (
+    check_update_config,
+    create_pose_model_cosypose,
+)
+from happypose.pose_estimators.cosypose.cosypose.training.train_pose import (
+    make_eval_bundle,
+    run_eval,
+)
 from happypose.pose_estimators.cosypose.cosypose.utils.distributed import (
     get_world_size,
     init_distributed_mode,
     reduce_dict,
     sync_model,
 )
+from happypose.toolbox.datasets.datasets_cfg import (
+    make_object_dataset,
+    make_scene_dataset,
+)
+from happypose.toolbox.datasets.pose_dataset import PoseDataset
+from happypose.toolbox.datasets.scene_dataset import (
+    IterableMultiSceneDataset,
+    RandomIterableSceneDataset,
+)
+from happypose.toolbox.lib3d.rigid_mesh_database import MeshDataBase
+from happypose.toolbox.renderer.panda3d_batch_renderer import Panda3dBatchRenderer
+
+# from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
 from happypose.toolbox.utils.logging import get_logger
+from happypose.toolbox.utils.resources import (
+    get_cuda_memory,
+    get_gpu_memory,
+    get_total_memory,
+)
 
 logger = get_logger(__name__)
 
@@ -209,48 +249,6 @@ def test_pose_training(self):
         train_pose(self.cfg_pose)
 
 
-import functools
-import time
-from collections import defaultdict
-
-import torch
-import torch.distributed as dist
-import yaml
-from torch.backends import cudnn
-from torch.utils.data import DataLoader
-from torchnet.meter import AverageValueMeter
-from tqdm import tqdm
-
-from happypose.pose_estimators.cosypose.cosypose.config import EXP_DIR
-from happypose.pose_estimators.cosypose.cosypose.training.pose_forward_loss import (
-    h_pose,
-)
-from happypose.pose_estimators.cosypose.cosypose.training.pose_models_cfg import (
-    check_update_config,
-    create_pose_model_cosypose,
-)
-from happypose.pose_estimators.cosypose.cosypose.training.train_pose import (
-    make_eval_bundle,
-    run_eval,
-)
-from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
-from happypose.toolbox.datasets.datasets_cfg import (
-    make_object_dataset,
-    make_scene_dataset,
-)
-from happypose.toolbox.datasets.pose_dataset import PoseDataset
-from happypose.toolbox.datasets.scene_dataset import (
-    IterableMultiSceneDataset,
-    RandomIterableSceneDataset,
-)
-from happypose.toolbox.lib3d.rigid_mesh_database import MeshDataBase
-from happypose.toolbox.renderer.panda3d_batch_renderer import Panda3dBatchRenderer
-from happypose.toolbox.utils.resources import (
-    get_cuda_memory,
-    get_gpu_memory,
-    get_total_memory,
-)
-
 cudnn.benchmark = True
 logger = get_logger(__name__)
 
diff --git a/tests/test_evaluation.py b/tests/test_evaluation.py
index a1ca9f2b..f8253c08 100644
--- a/tests/test_evaluation.py
+++ b/tests/test_evaluation.py
@@ -8,10 +8,7 @@
 # Third Party
 from omegaconf import OmegaConf
 
-from happypose.pose_estimators.megapose.config import (
-    LOCAL_DATA_DIR,
-    RESULTS_DIR,
-)
+from happypose.pose_estimators.megapose.config import LOCAL_DATA_DIR, RESULTS_DIR
 from happypose.pose_estimators.megapose.evaluation.bop import run_evaluation
 from happypose.pose_estimators.megapose.evaluation.eval_config import (
     BOPEvalConfig,
@@ -19,15 +16,11 @@
     FullEvalConfig,
     HardwareConfig,
 )
-from happypose.pose_estimators.megapose.evaluation.evaluation import (
-    get_save_dir,
-)
+from happypose.pose_estimators.megapose.evaluation.evaluation import get_save_dir
 from happypose.pose_estimators.megapose.scripts.run_full_megapose_eval import (
     create_eval_cfg,
 )
-from happypose.toolbox.utils.distributed import (
-    get_rank,
-)
+from happypose.toolbox.utils.distributed import get_rank
 from happypose.toolbox.utils.logging import get_logger
 
 logger = get_logger(__name__)
@@ -110,11 +103,11 @@ def test_config(self):
         assert (
             self.cfg["inference"]["n_pose_hypotheses"] == 5
         ), "Error: n_pose_hypotheses is not correct"
+        assert not self.cfg["inference"][
+            "run_depth_refiner"
+        ], "Error: run_depth_refiner is not correct"
         assert (
-            self.cfg["inference"]["run_depth_refiner"] == False
-        ), "Error: run_depth_refiner is not correct"
-        assert (
-            self.cfg["inference"]["depth_refiner"] == None
+            self.cfg["inference"]["depth_refiner"] is None
         ), "Error: depth_refiner is not correct"
         assert (
             self.cfg["inference"]["bsz_objects"] == 16
@@ -129,34 +122,30 @@ def test_config(self):
         assert (
             self.cfg["n_rendering_workers"] == 8
         ), "Error: n_rendering_workers is not correct"
-        assert self.cfg["n_frames"] == None, "Error: n_frames is not correct"
+        assert self.cfg["n_frames"] is None, "Error: n_frames is not correct"
         assert self.cfg["batch_size"] == 1, "Error: batch_size is not correct"
         assert (
             self.cfg["save_dir"] == f"{LOCAL_DATA_DIR}/results/ycbv-debug"
         ), "Error: save_dir is not correct"
         assert self.cfg["bsz_images"] == 256, "Error: bsz_images is not correct"
         assert self.cfg["bsz_objects"] == 16, "Error: bsz_objects is not correct"
+        assert self.cfg["skip_inference"], "Error: skip_inference is not correct"
+        assert self.cfg["skip_evaluation"], "Error: skip_evaluation is not correct"
         assert (
-            self.cfg["skip_inference"] == True
-        ), "Error: skip_inference is not correct"
-        assert (
-            self.cfg["skip_evaluation"] == True
-        ), "Error: skip_evaluation is not correct"
-        assert (
-            self.cfg["global_batch_size"] == None
+            self.cfg["global_batch_size"] is None
         ), "Error: global_batch_size is not correct"
         assert self.cfg["hardware"]["n_cpus"] == 10, "Error: n_cpus is not correct"
         assert self.cfg["hardware"]["n_gpus"] == 1, "Error: n_gpus is not correct"
-        assert self.cfg["debug"] == False, "Error: debug is not correct"
+        assert not self.cfg["debug"], "Error: debug is not correct"
         assert self.cfg["detection_coarse_types"] == [
             ["detector", "S03_grid"]
         ], "Error: detection_coarse_types is not correct"
         assert self.cfg["ds_names"] == ["ycbv.bop19"], "Error: ds_names is not correct"
-        assert self.cfg["run_bop_eval"] == True, "Error: run_bop_eval is not correct"
-        assert (
-            self.cfg["eval_coarse_also"] == False
-        ), "Error: eval_coarse_also is not correct"
-        assert self.cfg["convert_only"] == False, "Error: convert_only is not correct"
+        assert self.cfg["run_bop_eval"], "Error: run_bop_eval is not correct"
+        assert not self.cfg[
+            "eval_coarse_also"
+        ], "Error: eval_coarse_also is not correct"
+        assert not self.cfg["convert_only"], "Error: convert_only is not correct"
 
     # TODO
     # Rajouter un test pour save_dir ?

From 28e73b717205c338d49737de3b0cac549da9ab4d Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 18 Jul 2024 17:38:05 +0200
Subject: [PATCH 6/6] ci conda: multiview is required

---
 .github/workflows/conda-test.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/conda-test.yml b/.github/workflows/conda-test.yml
index 1e4e247b..bb075737 100644
--- a/.github/workflows/conda-test.yml
+++ b/.github/workflows/conda-test.yml
@@ -52,7 +52,7 @@ jobs:
         if: steps.cache.outputs.cache-hit != 'true'
 
       - name: Install happypose
-        run: pip install -e .
+        run: pip install -e .[multiview]
 
       - name: Download pre-trained models required for tests
         run: |