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feat(obstacle_pointcloud_based_validator_node): skip validation when obstacle pointcloud is empty #6684

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merged 2 commits into from
Apr 5, 2024
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feat(obstacle_pointcloud_based_validator_node): skip validation when obstacle pointcloud is empty #6684

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b4fe821
feat: skip validation when obstacle pointcloud is empty
YoshiRi Mar 25, 2024
850414a
fix: remove mistakenly unremoved line
YoshiRi Mar 27, 2024
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10 changes: 7 additions & 3 deletions perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -327,15 +327,19 @@
// objects_pub_->publish(*input_objects);
return;
}
bool validation_is_ready = true;
if (!validator_->setKdtreeInputCloud(input_obstacle_pointcloud)) {
RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5, "cannot receive pointcloud");
return;
RCLCPP_WARN_THROTTLE(

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perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp#L332 

Added line #L332 was not covered by tests
this->get_logger(), *this->get_clock(), 5,
"obstacle pointcloud is empty! Can not validate objects.");
validation_is_ready = false;
}

for (size_t i = 0; i < transformed_objects.objects.size(); ++i) {
const auto & transformed_object = transformed_objects.objects.at(i);
const auto & object = input_objects->objects.at(i);
const auto validated = validator_->validate_object(transformed_object);
const auto validated =
validation_is_ready ? validator_->validate_object(transformed_object) : false;

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perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp#L342 

Added line #L342 was not covered by tests
if (debugger_) {
debugger_->addNeighborPointcloud(validator_->getDebugNeighborPointCloud());
debugger_->addPointcloudWithinPolygon(validator_->getDebugPointCloudWithinObject());
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