fix(traffic_light_classifier): fix zero size roi bug #7608

technolojin · 2024-06-20T09:54:35Z

Description

Even the previous fix #7461, similar issue has occurred.

[component_container_mt-61]   what():  OpenCV(4.5.4) ./modules/imgproc/src/resize.cpp:4051: error: (-215:Assertion failed) !ssize.empty() in function 'resize'
[component_container_mt-61]   what():  OpenCV(4.5.4) ./modules/imgproc/src/resize.cpp:4051: error: (-215:Assertion failed) !ssize.empty() in function 'resize'
[component_container_mt-61] 
[component_container_mt-61] 
[component_container_mt-61] *** Aborted at 1718866324 (unix time) try "date -d @1718866324" if you are using GNU date ***
[component_container_mt-61] terminate called recursively
[component_container_mt-61] terminate called recursively
[component_container_mt-61] terminate called recursively
[component_container_mt-61] terminate called recursively
[component_container_mt-61] PC: @                0x0 (unknown)
[component_container_mt-61] *** SIGABRT (@0x3e800053712) received by PID 341778 (TID 0x7f89bbce9640) from PID 341778; stack trace: ***
[component_container_mt-61]     @     0x7f89c235d4d6 google::(anonymous namespace)::FailureSignalHandler()
[component_container_mt-61]     @     0x7f89c1c08520 (unknown)
[component_container_mt-61]     @     0x7f89c1c5c9fc pthread_kill
[component_container_mt-61]     @     0x7f89c1c08476 raise
[component_container_mt-61]     @     0x7f89c1bee7f3 abort
[component_container_mt-61]     @     0x7f89c1eb1b9e (unknown)
[component_container_mt-61]     @     0x7f89c1ebd20c (unknown)
[component_container_mt-61]     @     0x7f89c1ebc1e9 (unknown)
[component_container_mt-61]     @     0x7f89c1ebc959 __gxx_personality_v0
[component_container_mt-61]     @     0x7f89c1e05884 (unknown)
[component_container_mt-61]     @     0x7f89c1e062dd _Unwind_Resume
[component_container_mt-61]     @     0x7f89b1ec54de (unknown)
[component_container_mt-61]     @     0x7f88d72f0f02 _ZN19tensorrt_classifier13TrtClassifier14preprocess_optERKSt6vectorIN2cv3MatESaIS3_EE._omp_fn.0
[component_container_mt-61]     @     0x7f88d4deea16 GOMP_parallel
[component_container_mt-61]     @     0x7f88d72f2437 tensorrt_classifier::TrtClassifier::preprocess_opt()
[component_container_mt-61]     @     0x7f88d72f28e3 tensorrt_classifier::TrtClassifier::doInference()
[component_container_mt-61]     @     0x7f88d7556c13 traffic_light::CNNClassifier::getTrafficSignals()
[component_container_mt-61]     @     0x7f88d755d991 traffic_light::TrafficLightClassifierNodelet::imageRoiCallback()
[component_container_mt-61]     @     0x7f88d758c367 message_filters::CallbackHelper9T<>::call()
[component_container_mt-61]     @     0x7f88d759a5cc message_filters::sync_policies::ExactTime<>::checkTuple()
[component_container_mt-61]     @     0x7f88d75a7435 message_filters::Synchronizer<>::cb<>()
[component_container_mt-61]     @     0x7f88d7596097 _ZNSt17_Function_handlerIFvSt10shared_ptrIKN21tier4_perception_msgs3msg21TrafficLightRoiArray_ISaIvEEEEEZN15message_filters10SubscriberIS5_N6rclcpp4NodeEE9subscribeEPSC_RKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE17rmw_qos_profile_sNSB_32SubscriptionOptionsWithAllocatorIS4_EEEUlS7_E_E9_M_invokeERKSt9_Any_dataOS7_
[component_container_mt-61]     @     0x7f88d7571ba2 _ZNSt8__detail9__variant17__gen_vtable_implINS0_12_Multi_arrayIPFNS0_21__deduce_visit_resultIvEEOZN6rclcpp23AnySubscriptionCallbackIN21tier4_perception_msgs3msg21TrafficLightRoiArray_ISaIvEEESA_E8dispatchESt10shared_ptrISB_ERKNS5_11MessageInfoEEUlOT_E_RSt7variantIJSt8functionIFvRKSB_EESN_IFvSP_SH_EESN_IFvRKNS5_17SerializedMessageEEESN_IFvSW_SH_EESN_IFvSt10unique_ptrISB_St14default_deleteISB_EEEESN_IFvS14_SH_EESN_IFvS11_ISU_S12_ISU_EEEESN_IFvS1A_SH_EESN_IFvSD_ISO_EEESN_IFvS1F_SH_EESN_IFvSD_ISV_EEESN_IFvS1K_SH_EESN_IFvRKS1F_EESN_IFvS1Q_SH_EESN_IFvRKS1K_EESN_IFvS1W_SH_EESN_IFvSE_EESN_IFvSE_SH_EESN_IFvSD_ISU_EEESN_IFvS25_SH_EEEEEJEEESt16integer_sequenceImJLm8EEEE14__visit_invokeESL_S2B_
[component_container_mt-61]     @     0x7f88d758759f rclcpp::Subscription<>::handle_message()
[component_container_mt-61]     @     0x7f89c21d9ba0 rclcpp::Executor::execute_subscription()
[component_container_mt-61]     @     0x7f89c21db10e rclcpp::Executor::execute_any_executable()
[component_container_mt-61]     @     0x7f89c21e1432 rclcpp::executors::MultiThreadedExecutor::run()

Overall process were reviewed with consideration of zero-size roi and empty roi input.

Tests performed

Tested on a local recompute environment and TIER IV INTERNAL cloud test

Data:TIER IV INTERNAL

Effects on system behavior

Not applicable.

Interface changes

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technolojin · 2024-07-03T09:04:39Z

@tzhong518 Can I request your review?

github-actions · 2024-07-26T02:25:33Z

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miursh · 2024-07-31T21:49:51Z

https://evaluation.tier4.jp/evaluation/reports/81a73926-4667-56b0-917a-dbd34342139e/tests/c8554b6c-e431-58d7-8885-debfa9c6fd5f/ce888e8e-956b-54da-a144-64b1211dc8a6/5f842cbd-3635-5fba-ba84-9dd5823ff07b?project_id=prd_jt

codecov · 2024-08-05T06:42:42Z

Codecov Report

Attention: Patch coverage is 0% with 16 lines in your changes missing coverage. Please review.

Project coverage is 29.29%. Comparing base (2705a63) to head (464d1f8).
Report is 15 commits behind head on main.

Files	Patch %	Lines
...t_classifier/src/traffic_light_classifier_node.cpp	0.00%	16 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7608      +/-   ##
==========================================
- Coverage   29.29%   29.29%   -0.01%     
==========================================
  Files        1609     1609              
  Lines      119415   119421       +6     
  Branches    51481    51498      +17     
==========================================
- Hits        34988    34987       -1     
- Misses      75118    75219     +101     
+ Partials     9309     9215      -94

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`29.30% <ø> (+<0.01%)`	⬆️	Carriedforward from aec7e97

*This pull request uses carry forward flags. Click here to find out more.

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Signed-off-by: Taekjin LEE <[email protected]>

fix Signed-off-by: Taekjin LEE <[email protected]>

…light indices The code changes in `traffic_light_classifier_node.cpp` modify the way images and backlight indices are added to the respective vectors. Instead of using `push_back`, the code now uses `emplace_back`. This change improves performance and ensures proper object construction. Signed-off-by: Taekjin LEE <[email protected]>

Signed-off-by: Taekjin LEE <[email protected]>

perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp

…sifier_node.cpp Signed-off-by: Taekjin LEE <[email protected]>

technolojin · 2024-08-07T00:37:04Z

Test result
https://evaluation.tier4.jp/evaluation/reports/d552c065-01ef-5cf7-920e-8937fca66bf2?project_id=prd_jt
39/46 (failed cases are caused by test dataset)

perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp

yukkysaito

LGTM

perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp

Signed-off-by: Taekjin LEE <[email protected]>

…ion#7608) * fix: continue to process when input roi size is zero Signed-off-by: Taekjin LEE <[email protected]> * fix: consider when roi size is zero, rois is empty fix Signed-off-by: Taekjin LEE <[email protected]> * fix: use emplace_back instead of push_back for adding images and backlight indices The code changes in `traffic_light_classifier_node.cpp` modify the way images and backlight indices are added to the respective vectors. Instead of using `push_back`, the code now uses `emplace_back`. This change improves performance and ensures proper object construction. Signed-off-by: Taekjin LEE <[email protected]> * refactor: bring back for loop skim and output_msg filling Signed-off-by: Taekjin LEE <[email protected]> * chore: refactor code to handle empty input ROIs in traffic_light_classifier_node.cpp Signed-off-by: Taekjin LEE <[email protected]> * refactor: using index instead of vector length Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>

…ion#7608) * fix: continue to process when input roi size is zero Signed-off-by: Taekjin LEE <[email protected]> * fix: consider when roi size is zero, rois is empty fix Signed-off-by: Taekjin LEE <[email protected]> * fix: use emplace_back instead of push_back for adding images and backlight indices The code changes in `traffic_light_classifier_node.cpp` modify the way images and backlight indices are added to the respective vectors. Instead of using `push_back`, the code now uses `emplace_back`. This change improves performance and ensures proper object construction. Signed-off-by: Taekjin LEE <[email protected]> * refactor: bring back for loop skim and output_msg filling Signed-off-by: Taekjin LEE <[email protected]> * chore: refactor code to handle empty input ROIs in traffic_light_classifier_node.cpp Signed-off-by: Taekjin LEE <[email protected]> * refactor: using index instead of vector length Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Signed-off-by: xtk8532704 <[email protected]>

technolojin requested a review from ktro2828 June 20, 2024 09:54

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Jun 20, 2024

technolojin marked this pull request as ready for review June 20, 2024 09:54

technolojin requested review from miursh, tzhong518 and yukkysaito as code owners June 20, 2024 09:54

technolojin assigned technolojin and tzhong518 Jun 20, 2024

technolojin removed their assignment Jul 2, 2024

technolojin assigned kminoda Jul 7, 2024

technolojin marked this pull request as draft July 23, 2024 05:45

technolojin force-pushed the fix/traffic-light-classifier-zero-size-image-bug branch from 55884b4 to b04ea9a Compare July 26, 2024 02:25

technolojin force-pushed the fix/traffic-light-classifier-zero-size-image-bug branch from b04ea9a to 82e26cd Compare August 5, 2024 06:25

technolojin added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 5, 2024

technolojin added 3 commits August 6, 2024 13:19

fix: continue to process when input roi size is zero

e92cb9c

Signed-off-by: Taekjin LEE <[email protected]>

fix: consider when roi size is zero, rois is empty

1454a8e

fix Signed-off-by: Taekjin LEE <[email protected]>

technolojin force-pushed the fix/traffic-light-classifier-zero-size-image-bug branch from 82e26cd to 021ede7 Compare August 6, 2024 06:37

refactor: bring back for loop skim and output_msg filling

09c4468

Signed-off-by: Taekjin LEE <[email protected]>

technolojin marked this pull request as ready for review August 7, 2024 00:10

yukkysaito reviewed Aug 7, 2024

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perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp Outdated Show resolved Hide resolved

chore: refactor code to handle empty input ROIs in traffic_light_clas…

aec7e97

…sifier_node.cpp Signed-off-by: Taekjin LEE <[email protected]>

technolojin requested a review from yukkysaito August 7, 2024 00:35

yukkysaito reviewed Aug 7, 2024

View reviewed changes

perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp Outdated Show resolved Hide resolved

yukkysaito approved these changes Aug 7, 2024

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technolojin commented Aug 7, 2024

View reviewed changes

perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp Outdated Show resolved Hide resolved

refactor: using index instead of vector length

464d1f8

Signed-off-by: Taekjin LEE <[email protected]>

technolojin enabled auto-merge (squash) August 7, 2024 01:31

technolojin merged commit a60cf68 into autowarefoundation:main Aug 7, 2024
29 of 30 checks passed

technolojin deleted the fix/traffic-light-classifier-zero-size-image-bug branch August 7, 2024 02:38

zusizusi mentioned this pull request Aug 8, 2024

fix(traffic_light_classifier): fix traffic light monitor warning #8412

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fix(traffic_light_classifier): fix zero size roi bug #7608

fix(traffic_light_classifier): fix zero size roi bug #7608

technolojin commented Jun 20, 2024 •

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fix(traffic_light_classifier): fix zero size roi bug #7608

fix(traffic_light_classifier): fix zero size roi bug #7608

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technolojin commented Jun 20, 2024 • edited Loading

Description

Tests performed

Effects on system behavior

Interface changes

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

technolojin commented Jul 3, 2024

github-actions bot commented Jul 26, 2024 • edited Loading

miursh commented Jul 31, 2024

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