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tier4 / driving_log_replayer

an evaluation package for autoware
Apache License 2.0
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fix(perception): resolve invalid access to `None` #521

Closed ktro2828 closed 2 months ago

ktro2828 commented 2 months ago

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Description

Related to https://github.com/tier4/driving_log_replayer/pull/452.

Fix following error while converting evaluation results:

[perception_evaluator_node.py-68]   File "/home/autoware/pilot-auto/install/driving_log_replayer/lib/driving_log_replayer/perception_evaluator_node.py", line 265, in perception_cb
[perception_evaluator_node.py-68]     marker_ground_truth, marker_results = self._result.set_frame(
[perception_evaluator_node.py-68]   File "/home/autoware/pilot-auto/install/driving_log_replayer/local/lib/python3.10/dist-packages/driving_log_replayer/perception.py", line 172, in set_frame
[perception_evaluator_node.py-68]     self._frame[criterion.name] = criterion.set_frame(frame)
[perception_evaluator_node.py-68]   File "/home/autoware/pilot-auto/install/driving_log_replayer/local/lib/python3.10/dist-packages/driving_log_replayer/perception.py", line 133, in set_frame
[perception_evaluator_node.py-68]     "Objects": FrameDescriptionWriter.extract_pass_fail_objects_description(
[perception_evaluator_node.py-68]   File "/home/autoware/pilot-auto/install/driving_log_replayer/local/lib/python3.10/dist-packages/driving_log_replayer/perception_eval_conversions.py", line 503, in extract_pass_fail_objects_description
[perception_evaluator_node.py-68]     fn_obj_description = FrameDescriptionWriter.object_to_description(fn_gt)
[perception_evaluator_node.py-68]   File "/home/autoware/pilot-auto/install/driving_log_replayer/local/lib/python3.10/dist-packages/driving_log_replayer/perception_eval_conversions.py", line 330, in object_to_description
[perception_evaluator_node.py-68]     "velocity": fill_xyz(obj.state.velocity),
[perception_evaluator_node.py-68]   File "/home/autoware/pilot-auto/install/driving_log_replayer/local/lib/python3.10/dist-packages/driving_log_replayer/perception_eval_conversions.py", line 275, in fill_xyz
[perception_evaluator_node.py-68]     "x": tuple_[0],
[perception_evaluator_node.py-68] TypeError: 'NoneType' object is not subscriptable

Test results on evaluator

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