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ros-industrial / easy_perception_deployment

A ROS2 package that accelerates the training and deployment of CV models for industries.
Apache License 2.0
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Error in Action mode when there is no object detected #16

Closed Dcrypt closed 3 years ago

Dcrypt commented 3 years ago 
[processor-1] processor: /root/epd_ros2_ws/src/easy_perception_deployment/easy_perception_deployment/include/ort_cpp_lib/p3_ort_base.cpp:768: EPD::EPDObjectLocalization Ort::P3OrtBase::infer_action(const cv::Mat&, const cv::Mat&, sensor_msgs::msg::CameraInfo, double, int, int, int, int, float, float*, float, const Scalar&): Assertion `allClassNames.size() > *std::max_element(classIndices.begin(), classIndices.end())' failed.
[ERROR] [processor-1]: process has died [pid 2038, exit code -6, cmd '/root/epd_ros2_ws/src/easy_perception_deployment/easy_perception_deployment/install/easy_perception_deployment/lib/easy_perception_deployment/processor --ros-args -r /processor/image_input:=/camera/color/image_raw'].

For Action mode, I encountered the error above whenever there is no object detected by the camera.

During visualization mode, it functions normally if no object is detected.

cardboardcode commented 3 years ago

This is still an ongoing issue we are attempting to resolve internally.

For now, as a hot fix, please comment out the following lines as shown in the link below: https://github.com/ros-industrial/easy_perception_deployment/blob/affd46dfa3ff1a44cac48d200f200ec65b8761d8/easy_perception_deployment/include/ort_cpp_lib/p3_ort_base.cpp#L764-L769

Once you have commented it out, rebuild the package and deploy again. You should not encounter the issue anymore.