RuntimeError: Legacy autograd function with non-static forward method is deprecated.

显卡RTX3080 cuda 11.1 cudnn 8.0.5 python3.6.4

在使用pytorch1.0训练densefusion模型时报错,改用pytorch1.7,然后报上面的错误

Traceback (most recent call last):
  File "./tools/train.py", line 240, in 
    main()
  File "./tools/train.py", line 143, in main
    loss, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c, target, model_points, idx, points, opt.w,opt.refine_start)
  File "/home/xsy/anaconda3/envs/python36/lib/python3.6/site-packages/torch/nn/modules/module.py", line 889, in _call_impl
    result = self.forward(*input, **kwargs)
  File "/home/xsy/DenseFusion-Pytorch-1.0/lib/loss.py", line 83, in forward
    return loss_calculation(pred_r, pred_t, pred_c, target, model_points, idx, points, w, refine, self.num_pt_mesh, self.sym_list)
  File "/home/xsy/DenseFusion-Pytorch-1.0/lib/loss.py", line 44, in loss_calculation
    inds = knn(target.unsqueeze(0), pred.unsqueeze(0))
  File "/home/xsy/anaconda3/envs/python36/lib/python3.6/site-packages/torch/autograd/function.py", line 160, in __call__
"Legacy autograd function with non-static forward method is deprecated. "
RuntimeError: Legacy autograd function with non-static forward method is deprecated. Please use new-style autograd function with static forward method. (Example: https://pytorch.org/docs/stable/autograd.html#torch.autograd.Function)

下面是我的损失函数：

from torch.nn.modules.loss import _Loss
from torch.autograd import Variable
import torch
import time
import numpy as np
import torch.nn as nn
import random
import torch.backends.cudnn as cudnn
from lib.knn.__init__ import KNearestNeighbor


def loss_calculation(pred_r, pred_t, pred_c, target, model_points, idx, points, w, refine, num_point_mesh, sym_list):
    knn = KNearestNeighbor(1)
    bs, num_p, _ = pred_c.size()

    pred_r = pred_r / (torch.norm(pred_r, dim=2).view(bs, num_p, 1))
    
    base = torch.cat(((1.0 - 2.0*(pred_r[:, :, 2]**2 + pred_r[:, :, 3]**2)).view(bs, num_p, 1),\
                      (2.0*pred_r[:, :, 1]*pred_r[:, :, 2] - 2.0*pred_r[:, :, 0]*pred_r[:, :, 3]).view(bs, num_p, 1), \
                      (2.0*pred_r[:, :, 0]*pred_r[:, :, 2] + 2.0*pred_r[:, :, 1]*pred_r[:, :, 3]).view(bs, num_p, 1), \
                      (2.0*pred_r[:, :, 1]*pred_r[:, :, 2] + 2.0*pred_r[:, :, 3]*pred_r[:, :, 0]).view(bs, num_p, 1), \
                      (1.0 - 2.0*(pred_r[:, :, 1]**2 + pred_r[:, :, 3]**2)).view(bs, num_p, 1), \
                      (-2.0*pred_r[:, :, 0]*pred_r[:, :, 1] + 2.0*pred_r[:, :, 2]*pred_r[:, :, 3]).view(bs, num_p, 1), \
                      (-2.0*pred_r[:, :, 0]*pred_r[:, :, 2] + 2.0*pred_r[:, :, 1]*pred_r[:, :, 3]).view(bs, num_p, 1), \
                      (2.0*pred_r[:, :, 0]*pred_r[:, :, 1] + 2.0*pred_r[:, :, 2]*pred_r[:, :, 3]).view(bs, num_p, 1), \
                      (1.0 - 2.0*(pred_r[:, :, 1]**2 + pred_r[:, :, 2]**2)).view(bs, num_p, 1)), dim=2).contiguous().view(bs * num_p, 3, 3)

    ori_base = base
    base = base.contiguous().transpose(2, 1).contiguous()
    model_points = model_points.view(bs, 1, num_point_mesh, 3).repeat(1, num_p, 1, 1).view(bs * num_p, num_point_mesh, 3)
    target = target.view(bs, 1, num_point_mesh, 3).repeat(1, num_p, 1, 1).view(bs * num_p, num_point_mesh, 3)
    ori_target = target
    pred_t = pred_t.contiguous().view(bs * num_p, 1, 3)
    ori_t = pred_t
    points = points.contiguous().view(bs * num_p, 1, 3)
    pred_c = pred_c.contiguous().view(bs * num_p)

    pred = torch.add(torch.bmm(model_points, base), points + pred_t)

    if not refine:
        if idx[0].item() in sym_list:
            target = target[0].transpose(1, 0).contiguous().view(3, -1)
            pred = pred.permute(2, 0, 1).contiguous().view(3, -1)
            inds = knn(target.unsqueeze(0), pred.unsqueeze(0))
            target = torch.index_select(target, 1, inds.view(-1).detach() - 1)
            target = target.view(3, bs * num_p, num_point_mesh).permute(1, 2, 0).contiguous()
            pred = pred.view(3, bs * num_p, num_point_mesh).permute(1, 2, 0).contiguous()

    dis = torch.mean(torch.norm((pred - target), dim=2), dim=1)
    loss = torch.mean((dis * pred_c - w * torch.log(pred_c)), dim=0)
    

    pred_c = pred_c.view(bs, num_p)
    how_max, which_max = torch.max(pred_c, 1)
    dis = dis.view(bs, num_p)


    t = ori_t[which_max[0]] + points[which_max[0]]
    points = points.view(1, bs * num_p, 3)

    ori_base = ori_base[which_max[0]].view(1, 3, 3).contiguous()
    ori_t = t.repeat(bs * num_p, 1).contiguous().view(1, bs * num_p, 3)
    new_points = torch.bmm((points - ori_t), ori_base).contiguous()

    new_target = ori_target[0].view(1, num_point_mesh, 3).contiguous()
    ori_t = t.repeat(num_point_mesh, 1).contiguous().view(1, num_point_mesh, 3)
    new_target = torch.bmm((new_target - ori_t), ori_base).contiguous()

    # print('------------> ', dis[0][which_max[0]].item(), pred_c[0][which_max[0]].item(), idx[0].item())
    del knn
    return loss, dis[0][which_max[0]], new_points.detach(), new_target.detach()


class Loss(_Loss):
 
    def __init__(self, num_points_mesh, sym_list):
        super(Loss, self).__init__(True)
        self.num_pt_mesh = num_points_mesh
        self.sym_list = sym_list
   
    def forward(self, pred_r, pred_t, pred_c, target, model_points, idx, points, w, refine):

        return loss_calculation(pred_r, pred_t, pred_c, target, model_points, idx, points, w, refine, self.num_pt_mesh, self.sym_list)

请教一下各位大神怎么解决？