resize Assertion failed

I got the following error when ran it on the host with cpp TensorRT.

scorpion@scorpion-Alienware-15-R2:~/ros2_ws$  ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py     model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_nano_480x640.trt     model_version:="0.1.0" 
[INFO] [launch]: All log files can be found below /home/scorpion/.ros/log/2022-11-24-16-40-08-932533-scorpion-Alienware-15-R2-339792
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [339805]
[component_container-1] [INFO] [1669326009.316779835] [yolox_container]: Load Library: /opt/ros/foxy/lib/libv4l2_camera.so
[component_container-1] [INFO] [1669326009.325636382] [yolox_container]: Found class: rclcpp_components::NodeFactoryTemplate<v4l2_camera::V4L2Camera>
[component_container-1] [INFO] [1669326009.325722473] [yolox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<v4l2_camera::V4L2Camera>
[component_container-1] [INFO] [1669326009.336747397] [v4l2_camera]: Driver: uvcvideo
[component_container-1] [INFO] [1669326009.336786022] [v4l2_camera]: Version: 331580
[component_container-1] [INFO] [1669326009.336796181] [v4l2_camera]: Device: Integrated_Webcam_HD: Integrate
[component_container-1] [INFO] [1669326009.336804645] [v4l2_camera]: Location: usb-0000:00:14.0-7
[component_container-1] [INFO] [1669326009.336812451] [v4l2_camera]: Capabilities:
[component_container-1] [INFO] [1669326009.336820553] [v4l2_camera]:   Read/write: NO
[component_container-1] [INFO] [1669326009.336828098] [v4l2_camera]:   Streaming: YES
[component_container-1] [INFO] [1669326009.336840005] [v4l2_camera]: Current pixel format: YUYV @ 640x480
[component_container-1] [INFO] [1669326009.336998684] [v4l2_camera]: Available pixel formats: 
[component_container-1] [INFO] [1669326009.337010794] [v4l2_camera]:   YUYV - YUYV 4:2:2
[component_container-1] [INFO] [1669326009.337019023] [v4l2_camera]:   MJPG - Motion-JPEG
[component_container-1] [INFO] [1669326009.337026625] [v4l2_camera]: Available controls: 
[component_container-1] [INFO] [1669326009.337038769] [v4l2_camera]:   Brightness (1) = 0
[component_container-1] [INFO] [1669326009.337049786] [v4l2_camera]:   Contrast (1) = 0
[component_container-1] [INFO] [1669326009.337060041] [v4l2_camera]:   Saturation (1) = 64
[component_container-1] [INFO] [1669326009.337846170] [v4l2_camera]:   Hue (1) = 0
[component_container-1] [INFO] [1669326009.337880268] [v4l2_camera]:   White Balance Temperature, Auto (2) = 1
[component_container-1] [INFO] [1669326009.337893778] [v4l2_camera]:   Gamma (1) = 100
[component_container-1] [INFO] [1669326009.337905088] [v4l2_camera]:   Power Line Frequency (3) = 2
[component_container-1] [INFO] [1669326009.338695580] [v4l2_camera]:   White Balance Temperature (1) = 4600
[component_container-1] [INFO] [1669326009.338726639] [v4l2_camera]:   Sharpness (1) = 2
[component_container-1] [INFO] [1669326009.338739338] [v4l2_camera]:   Backlight Compensation (1) = 3
[component_container-1] [INFO] [1669326009.338750403] [v4l2_camera]:   Exposure, Auto (3) = 3
[component_container-1] [INFO] [1669326009.339624995] [v4l2_camera]:   Exposure (Absolute) (1) = 156
[component_container-1] [INFO] [1669326009.339655825] [v4l2_camera]:   Exposure, Auto Priority (2) = 1
[component_container-1] [INFO] [1669326009.339665697] [v4l2_camera]: Time-per-frame support: YES
[component_container-1] [INFO] [1669326009.339673897] [v4l2_camera]:   Current time per frame: 1/30 s
[component_container-1] [INFO] [1669326009.339682343] [v4l2_camera]:   Available intervals:
[component_container-1] [INFO] [1669326009.339699280] [v4l2_camera]:     MJPG 848x480: 1/30
[component_container-1] [INFO] [1669326009.339712384] [v4l2_camera]:     MJPG 960x540: 1/30
[component_container-1] [INFO] [1669326009.339721262] [v4l2_camera]:     MJPG 1280x720: 1/30
[component_container-1] [INFO] [1669326009.339730045] [v4l2_camera]:     MJPG 1920x1080: 1/30
[component_container-1] [INFO] [1669326009.339738841] [v4l2_camera]:     YUYV 160x120: 1/30
[component_container-1] [INFO] [1669326009.339747385] [v4l2_camera]:     YUYV 320x180: 1/30
[component_container-1] [INFO] [1669326009.339755745] [v4l2_camera]:     YUYV 320x240: 1/30
[component_container-1] [INFO] [1669326009.339763888] [v4l2_camera]:     YUYV 424x240: 1/30
[component_container-1] [INFO] [1669326009.339772153] [v4l2_camera]:     YUYV 640x360: 1/30
[component_container-1] [INFO] [1669326009.339780395] [v4l2_camera]:     YUYV 640x480: 1/30 1/30
[component_container-1] [ERROR] [1669326009.364024554] [v4l2_camera]: Failed setting value for control White Balance Temperature to 4600: Input/output error (5)
[component_container-1] [ERROR] [1669326009.370262533] [v4l2_camera]: Failed setting value for control Exposure (Absolute) to 156: Input/output error (5)
[component_container-1] [INFO] [1669326009.371367868] [v4l2_camera]: Starting camera
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/v4l2_camera' in container '/yolox_container'
[component_container-1] [INFO] [1669326009.381502264] [yolox_container]: Load Library: /home/scorpion/ros2_ws/install/yolox_ros_cpp/lib/libyolox_ros_cpp_components.so
[component_container-1] [INFO] [1669326009.509412548] [yolox_container]: Found class: rclcpp_components::NodeFactoryTemplate<yolox_ros_cpp::YoloXNode>
[component_container-1] [INFO] [1669326009.509461932] [yolox_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<yolox_ros_cpp::YoloXNode>
[component_container-1] [INFO] [1669326009.513420278] [yolox_ros_cpp]: initialize
[component_container-1] [INFO] [1669326009.514141089] [yolox_ros_cpp]: Set parameter imshow_isshow: 1
[component_container-1] [INFO] [1669326009.514170270] [yolox_ros_cpp]: Set parameter model_path: 'install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_nano_480x640.trt'
[component_container-1] [INFO] [1669326009.514198985] [yolox_ros_cpp]: Set parameter class_labels_path: ''
[component_container-1] [INFO] [1669326009.514240051] [yolox_ros_cpp]: Set parameter num_classes: 80
[component_container-1] [INFO] [1669326009.514256483] [yolox_ros_cpp]: Set parameter conf: 0.300000
[component_container-1] [INFO] [1669326009.514283430] [yolox_ros_cpp]: Set parameter nms: 0.450000
[component_container-1] [INFO] [1669326009.514321736] [yolox_ros_cpp]: Set parameter tensorrt/device: 0
[component_container-1] [INFO] [1669326009.514336711] [yolox_ros_cpp]: Set parameter openvino/device: CPU
[component_container-1] [INFO] [1669326009.514348913] [yolox_ros_cpp]: Set parameter onnxruntime/use_cuda: 1
[component_container-1] [INFO] [1669326009.514360754] [yolox_ros_cpp]: Set parameter onnxruntime/device_id: 0
[component_container-1] [INFO] [1669326009.514372519] [yolox_ros_cpp]: Set parameter onnxruntime/use_parallel: 0
[component_container-1] [INFO] [1669326009.514384381] [yolox_ros_cpp]: Set parameter model_type: 'tensorrt'
[component_container-1] [INFO] [1669326009.514412877] [yolox_ros_cpp]: Set parameter model_version: '0.1.0'
[component_container-1] [INFO] [1669326009.514426783] [yolox_ros_cpp]: Set parameter src_image_topic_name: '/image_raw'
[component_container-1] [INFO] [1669326009.514450895] [yolox_ros_cpp]: Set parameter publish_image_topic_name: '/yolox/image_raw'
[component_container-1] [INFO] [1669326009.612488226] [yolox_ros_cpp]: Model Type is TensorRT
[component_container-1] [INFO] [1669326009.635604500] [v4l2_camera]: using default calibration URL
[component_container-1] [INFO] [1669326009.635723008] [v4l2_camera]: camera calibration URL: file:///home/scorpion/.ros/camera_info/integrated_webcam_hd:_integrate.yaml
[component_container-1] [ERROR] [1669326009.635866041] [camera_calibration_parsers]: Unable to open camera calibration file [/home/scorpion/.ros/camera_info/integrated_webcam_hd:_integrate.yaml]
[component_container-1] [WARN] [1669326009.635908438] [v4l2_camera]: Camera calibration file /home/scorpion/.ros/camera_info/integrated_webcam_hd:_integrate.yaml not found
[component_container-1] invalid arguments path_to_engine: install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_nano_480x640.trt
[component_container-1] [INFO] [1669326009.651568464] [yolox_ros_cpp]: model loaded
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolox_ros_cpp' in container '/yolox_container'
[component_container-1] terminate called after throwing an instance of 'cv::Exception'
[component_container-1]   what():  OpenCV(4.2.0) ../modules/imgproc/src/resize.cpp:4048: error: (-215:Assertion failed) inv_scale_x > 0 in function 'resize'
[component_container-1] 
[ERROR] [component_container-1]: process has died [pid 339805, exit code -6, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=yolox_container -r __ns:=/'].

Ubuntu: 20.04 OpenCV: 4.2.0

[13randNEW]

Is TRT engine file path correct? After converting to TRT Engine, the link will not be generated in the install directory unless colcon build.

Log invalid arguments path_to_engine indicates that the engine file path is incorrect. If engine path is specified correctly and successfully loaded, INPUT_HEIGHT and INPUT_WIDTH should be logged.

I found the TRT engine named “yolo_nano.trt” but I specified it as yolo_nano480x640.trt. It works now! Thank you so much for the help!

By the way, do I need to worry about warning like below?

[component_container-1] [11/26/2022-22:57:30] [W] [TRT] The enqueue() method has been deprecated when used with engines built from a network created with NetworkDefinitionCreationFlag::kEXPLICIT_BATCH flag. Please use enqueueV2() instead.

[fateshelled]

Is TRT engine file path correct? After converting to TRT Engine, the link will not be generated in the install directory unless colcon build.

Log invalid arguments path_to_engine indicates that the engine file path is incorrect. If engine path is specified correctly and successfully loaded, INPUT_HEIGHT and INPUT_WIDTH should be logged.