`traffic_light_roi_visualizer` does not handle unknown results well - Githubissues

autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/

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`traffic_light_roi_visualizer` does not handle unknown results well #7924

Open miursh opened 4 months ago

miursh commented 4 months ago

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I'm convinced that this is not my fault but a bug.

Description

When the TLR outputs an unknown result, the visualizer:

Keeps outputting 'Adjusted position is out of image bounds.' to the terminal
The border color of 'unknown' is green

Expected behavior

When the TLR outputs an unknown result, the visualizer:

Should not output any errors to the terminal
The border color of 'unknown' should be white

Actual behavior

When the TLR outputs an unknown result, the visualizer:

Keeps outputting 'Adjusted position is out of image bounds.' to the terminal
Turns the border color of 'unknown' to green

Steps to reproduce

launch logging_simulator.launch.xml ros2 launch autoware_launch logging_simulator.launch.xml map_path:=PATH_TP_MAP vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit vehicle:=false sensing:=true perception:=true planning:=false control:=false map:=true system:=false localization:=false rviz:=false
run rqt_image_view ros2 run rqt_image_view rqt_image_view and see ~/debug/rois topic

Versions

OS: Ubuntu22.04 ROS2: humble Autoware: latest

Possible causes

The condition in this section is not good. https://github.com/autowarefoundation/autoware.universe/blob/main/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp#L50-L52

Possible approaches

[x] Very short term: Remove std::cerr https://github.com/autowarefoundation/autoware.universe/pull/8294
[ ] Short term: Fix the condition for drawing unknown
[ ] Medium to long term: Refactor overall (there are mysterious magic numbers and many variables with essentially the same name, fixed values set in various places within hpp/cpp files and global functions)

Additional context

No response

vividf commented 3 months ago

@miursh Miura-san, may I ask who is handling this issue? Thanks ;)

miursh commented 3 months ago

@kminoda @YoshiRi How about this?

YoshiRi commented 3 months ago

This is assigned to @tzhong518. If urgent, I will handle it.

miursh commented 3 months ago

I urgently need the numerous errors appearing in the terminal to be removed

kminoda commented 3 months ago

@KhalilSelyan (cc: @tzhong518) Hi, thank you for the previous PR https://github.com/autowarefoundation/autoware.universe/pull/6985. However, the PR is flooding the terminal log (issue https://github.com/autowarefoundation/autoware.universe/issues/7924), so I will merge this temporary PR as a quick fix: https://github.com/autowarefoundation/autoware.universe/pull/8294

Would you consider handling this, not just with a quick fix but as a long term fix?

stale[bot] commented 1 month ago

This pull request has been automatically marked as stale because it has not had recent activity.