resize Assertion failed
See original GitHub issueI 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
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- Created 10 months ago
- Comments:5 (4 by maintainers)
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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?
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
andINPUT_WIDTH
should be logged.