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

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merged 6 commits into from
Aug 7, 2024
Merged

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

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e92cb9c
fix: continue to process when input roi size is zero
technolojin Jun 20, 2024
1454a8e
fix: consider when roi size is zero, rois is empty
technolojin Jun 20, 2024
021ede7
fix: use emplace_back instead of push_back for adding images and back…
technolojin Aug 5, 2024
09c4468
refactor: bring back for loop skim and output_msg filling
technolojin Aug 6, 2024
aec7e97
chore: refactor code to handle empty input ROIs in traffic_light_clas…
technolojin Aug 7, 2024
464d1f8
refactor: using index instead of vector length
technolojin Aug 7, 2024
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39 changes: 25 additions & 14 deletions perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,52 +84,63 @@
if (classifier_ptr_.use_count() == 0) {
return;
}
if (input_rois_msg->rois.empty()) {
return;
}

cv_bridge::CvImagePtr cv_ptr;
try {
cv_ptr = cv_bridge::toCvCopy(input_image_msg, sensor_msgs::image_encodings::RGB8);
} catch (cv_bridge::Exception & e) {
RCLCPP_ERROR(
this->get_logger(), "Could not convert from '%s' to 'rgb8'.",
input_image_msg->encoding.c_str());
}

tier4_perception_msgs::msg::TrafficLightArray output_msg;

output_msg.signals.resize(input_rois_msg->rois.size());

std::vector<cv::Mat> images;
std::vector<size_t> backlight_indices;
for (size_t i = 0; i < input_rois_msg->rois.size(); i++) {
// skip if the roi is not detected
if (input_rois_msg->rois.at(i).roi.height == 0) {
break;
const auto & input_roi = input_rois_msg->rois.at(i);

// ignore if the roi is not the type to be classified
if (input_roi.traffic_light_type != classify_traffic_light_type_) {
continue;

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Added line #L110 was not covered by tests
}
if (input_rois_msg->rois.at(i).traffic_light_type != classify_traffic_light_type_) {
// skip if the roi size is zero
if (input_roi.roi.height == 0 || input_roi.roi.width == 0) {
continue;
}
output_msg.signals[images.size()].traffic_light_id =
input_rois_msg->rois.at(i).traffic_light_id;
output_msg.signals[images.size()].traffic_light_type =
input_rois_msg->rois.at(i).traffic_light_type;
const sensor_msgs::msg::RegionOfInterest & roi = input_rois_msg->rois.at(i).roi;

// set traffic light id and type
output_msg.signals[images.size()].traffic_light_id = input_roi.traffic_light_id;
output_msg.signals[images.size()].traffic_light_type = input_roi.traffic_light_type;

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const sensor_msgs::msg::RegionOfInterest & roi = input_roi.roi;
auto roi_img = cv_ptr->image(cv::Rect(roi.x_offset, roi.y_offset, roi.width, roi.height));
if (is_harsh_backlight(roi_img)) {
backlight_indices.emplace_back(i);
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}
images.emplace_back(roi_img);
}

// classify the images
output_msg.signals.resize(images.size());
if (!classifier_ptr_->getTrafficSignals(images, output_msg)) {
RCLCPP_ERROR(this->get_logger(), "failed classify image, abort callback");
return;
if (!images.empty()) {
if (!classifier_ptr_->getTrafficSignals(images, output_msg)) {
RCLCPP_ERROR(this->get_logger(), "failed classify image, abort callback");

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return;
}
}

// append the undetected rois as unknown
for (const auto & input_roi : input_rois_msg->rois) {
if (input_roi.roi.height == 0 && input_roi.traffic_light_type == classify_traffic_light_type_) {
// if the type is the target type but the roi size is zero, the roi is undetected
if (
(input_roi.roi.height == 0 || input_roi.roi.width == 0) &&

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Conditional 

TrafficLightClassifierNodelet::imageRoiCallback has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
input_roi.traffic_light_type == classify_traffic_light_type_) {

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❌ Getting worse: Complex Method 

TrafficLightClassifierNodelet::imageRoiCallback increases in cyclomatic complexity from 14 to 19, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Bumpy Road Ahead 

TrafficLightClassifierNodelet::imageRoiCallback increases from 3 to 4 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

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perception/autoware_traffic_light_classifier/src/traffic_light_classifier_node.cpp#L141-L143 

Added lines #L141 - L143 were not covered by tests
tier4_perception_msgs::msg::TrafficLight tlr_sig;
tlr_sig.traffic_light_id = input_roi.traffic_light_id;
tlr_sig.traffic_light_type = input_roi.traffic_light_type;
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