Successfully building Apollo v9.0, but encountering errors when running camera_detection_single_stage.dag.

[Hgsil]

System information

• OS Platform and Distribution : orin
• Apollo version :9.0

Steps to reproduce the issue:

After successfully building the perception module, I attempted to test the effect of the smoke. I used the command "mainboard -d modules/transform/dag/static_transform.dag -d modules/perception/camera_detection_single_stage/dag/camera_detection_single_stage.dag -d modules/perception/camera_location_estimation/dag/camera_location_estimation.dag -d modules/perception/camera_location_refinement/dag/camera_location_refinement.dag -d modules/perception/camera_tracking/dag/camera_tracking.dag -d modules/perception/multi_sensor_fusion/dag/multi_sensor_fusion.dag" to launch the modules. However, the "/apollo/perception/obstacles" topic consistently had no information. Upon inspecting the logs, I found that it was stuck in the tracker module. The logs indicated that the detection, location_estimation, and location_refinement modules were producing output normally, but the tracker module only output the following message once:: "I1116 16:05:16.286335 48529 camera_tracking_component.cc:71] Enter Tracking component, message timestamp: 1513807824.641768 current timestamp: 1700121916.286372." Could you please advise me on how to debug the camera tracker module?

Supporting materials (screenshots, command lines, code/script snippets):

[Hgsil]

I am outputting the content of the 'track' line by line to identify the problem. Currently, it is confirmed that the entire process is stuck in the ”OMTObstacleTracker::Associate2D“ method when calling “OMTObstacleTracker::CreateNewTarget” Upon further output, it can be observed that the code is stuck at “auto &min_tmplt = kMinTemplateHWL.at(sub_type);” At the moment, I cannot find a solution. The log outputs information indicating the successful initialization of “object_template_manager”

[LordonCN]

I am outputting the content of the 'track' line by line to identify the problem. Currently, it is confirmed that the entire process is stuck in the ”OMTObstacleTracker::Associate2D“ method when calling “OMTObstacleTracker::CreateNewTarget” Upon further output, it can be observed that the code is stuck at “auto &min_tmplt = kMinTemplateHWL.at(sub_type);” At the moment, I cannot find a solution. The log outputs information indicating the successful initialization of “object_template_manager”

Thanks for your work, it's true that sub_type keeps 0 in omt tracking stage. Main reason is vector types_ in modules/perception/camera_detection_single_stage/detector/smoke/smoke_obstacle_detector.h file is empty, your can change InitParam function like this:

void SmokeObstacleDetector::InitParam(const smoke::ModelParam &model_param) {
  // min 2d height
  min_dims_ = model_param.min_dims();
  // confidence threshold
  confidence_threshold_ = model_param.confidence_threshold();
  // ori cycle
  ori_cycle_ = model_param.ori_cycle();
  // border ratio
  border_ratio_ = model_param.border_ratio();

  // add these
  types_.push_back(base::ObjectSubType::CAR);
  types_.push_back(base::ObjectSubType::VAN);
  types_.push_back(base::ObjectSubType::TRUCK);
  types_.push_back(base::ObjectSubType::BUS);
  types_.push_back(base::ObjectSubType::PEDESTRIAN);
  types_.push_back(base::ObjectSubType::CYCLIST);
  types_.push_back(base::ObjectSubType::TRAFFICCONE);
}

We will fix this and other omt bugs in next version.

[LordonCN]

System information

• OS Platform and Distribution : orin
• Apollo version :9.0

Steps to reproduce the issue:

After successfully building the perception module, I attempted to test the effect of the smoke. I used the command "mainboard -d modules/transform/dag/static_transform.dag -d modules/perception/camera_detection_single_stage/dag/camera_detection_single_stage.dag -d modules/perception/camera_location_estimation/dag/camera_location_estimation.dag -d modules/perception/camera_location_refinement/dag/camera_location_refinement.dag -d modules/perception/camera_tracking/dag/camera_tracking.dag -d modules/perception/multi_sensor_fusion/dag/multi_sensor_fusion.dag" to launch the modules. However, the "/apollo/perception/obstacles" topic consistently had no information. Upon inspecting the logs, I found that it was stuck in the tracker module. The logs indicated that the detection, location_estimation, and location_refinement modules were producing output normally, but the tracker module only output the following message once:: "I1116 16:05:16.286335 48529 camera_tracking_component.cc:71] Enter Tracking component, message timestamp: 1513807824.641768 current timestamp: 1700121916.286372." Could you please advise me on how to debug the camera tracker module?

Supporting materials (screenshots, command lines, code/script snippets):

You can use following command to start smoke:

1. Modify readers channel in modules/perception/camera_tracking/dag/camera_tracking.dag to smoke output channel in modules/perception/camera_detection_single_stage/conf/camera_detection_single_stage_config.pb.txt
2. launch it

   cyber_launch start modules/perception/launch/perception_camera_single_stage.launch

   You can use following command to DEBUG:

   gdb mainboard
   >> set args -d /apollo/modules/perception/msg_adapter/dag/msg_adapter.dag -d /apollo/modules/perception/camera_detection_single_stage/dag/camera_detection_single_stage.dag -d /apollo/modules/perception/camera_tracking/dag/camera_tracking.dag -p camera -s CYBER_DEFAULT
   >> run
   >> bt

[LordonCN]

Please reopen this issue if you have any other question.