fix pipeline crashes - Githubissues

tritonuas / obcpp

The code for the Onboard Computer, now written in C++.

GNU Affero General Public License v3.0

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fix pipeline crashes #204

Closed atar13 closed 3 months ago

atar13 commented 3 months ago

Handful of changes to handle edge cases when the pipeline is run during the fly_search tick.
Some changes to the mock camera to make testing with predefined telemetry easier

Testing

I tested this by running the GCS with SITL (virtual plane), OBCpp, and not-stolen server. I was able to upload a mission, have not-stolen generate the matching reference images, and have the CVAggregator run the pipeline with no crashes (albeit very slowly without CUDA support for the models). I got to end of the CVLoiter tick where all the aggregator workers completed their work.

Samir-Rashid commented 3 months ago

The pipeline looks good. Only issue I see is that I am getting match distance -inf for the bottle matching. I'm guessing that's just something with the test and not a real issue. Please fix the lint. It's easy to fix stuff.

atar13 commented 3 months ago

The pipeline looks good. Only issue I see is that I am getting match distance -inf for the bottle matching. I'm guessing that's just something with the test and not a real issue. Please fix the lint. It's easy to fix stuff.

Fixed the lint up.

I think the -inf distance was because you ran the test with no matching references images since the paths weren't updated. Earlier, I added a check for matching to return Bottle A with infinite distance if it's given no reference images (since it has no images to compare against).