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[Feature] Optimized convertToHeightMapData Method #1905

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[Feature] Optimized convertToHeightMapData Method

[Feature] Optimized convertToHeightMapData Method #1905

GitHub Actions / JUnit Test Report atlas failed Feb 28, 2025 in 0s

83 tests run, 70 passed, 12 skipped, 1 failed.

Annotations

Check failure on line 1 in atlas/src/test/java/us/ihmc/atlas/networkProcessor/footstepPostProcessing/AtlasPostProcessingTest.java

See this annotation in the file changed.

@github-actions github-actions / JUnit Test Report atlas

AtlasPostProcessingTest.testWalkingOffOfMediumPlatform() 

java.lang.RuntimeException: OpenCL error code: (-6) -> CL_OUT_OF_HOST_MEMORY
Raw output 
java.lang.RuntimeException: OpenCL error code: (-6) -> CL_OUT_OF_HOST_MEMORY
	at us.ihmc.perception.opencl.OpenCLTools.checkReturnCode(OpenCLTools.java:48)
	at us.ihmc.perception.opencl.OpenCLTools.checkReturnCode(OpenCLTools.java:55)
	at us.ihmc.perception.opencl.OpenCLManager.<init>(OpenCLManager.java:88)
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathPlanner.<init>(GPUAStarBodyPathPlanner.java:108)
	at us.ihmc.footstepPlanning.bodyPath.GPUAStarBodyPathPlanner.<init>(GPUAStarBodyPathPlanner.java:164)
	at us.ihmc.footstepPlanning.FootstepPlanningModule.<init>(FootstepPlanningModule.java:156)
	at us.ihmc.footstepPlanning.FootstepPlanningModule.<init>(FootstepPlanningModule.java:128)
	at us.ihmc.avatar.networkProcessor.footstepPlanningModule.FootstepPlanningModuleLauncher.createModule(FootstepPlanningModuleLauncher.java:94)
	at us.ihmc.avatar.networkProcessor.footstepPostProcessing.AvatarPostProcessingTests.showMemoryUsageBeforeTest(AvatarPostProcessingTests.java:105)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.base/java.lang.reflect.Method.invoke(Method.java:569)
	at org.junit.platform.commons.util.ReflectionUtils.invokeMethod(ReflectionUtils.java:727)
	at org.junit.jupiter.engine.execution.MethodInvocation.proceed(MethodInvocation.java:60)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain$ValidatingInvocation.proceed(InvocationInterceptorChain.java:131)
	at org.junit.jupiter.engine.extension.SameThreadTimeoutInvocation.proceed(SameThreadTimeoutInvocation.java:45)
	at org.junit.jupiter.engine.extension.TimeoutExtension.intercept(TimeoutExtension.java:156)
	at org.junit.jupiter.engine.extension.TimeoutExtension.interceptLifecycleMethod(TimeoutExtension.java:128)
	at org.junit.jupiter.engine.extension.TimeoutExtension.interceptBeforeEachMethod(TimeoutExtension.java:78)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker$ReflectiveInterceptorCall.lambda$ofVoidMethod$0(InterceptingExecutableInvoker.java:103)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.lambda$invoke$0(InterceptingExecutableInvoker.java:93)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain$InterceptedInvocation.proceed(InvocationInterceptorChain.java:106)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.proceed(InvocationInterceptorChain.java:64)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.chainAndInvoke(InvocationInterceptorChain.java:45)
	at org.junit.jupiter.engine.execution.InvocationInterceptorChain.invoke(InvocationInterceptorChain.java:37)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:92)
	at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:86)
	at org.junit.jupiter.engine.descriptor.ClassBasedTestDescriptor.invokeMethodInExtensionContext(ClassBasedTestDescriptor.java:520)
	at org.junit.jupiter.engine.descriptor.ClassBasedTestDescriptor.lambda$synthesizeBeforeEachMethodAdapter$23(ClassBasedTestDescriptor.java:505)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeBeforeEachMethods$3(TestMethodTestDescriptor.java:174)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeBeforeMethodsOrCallbacksUntilExceptionOccurs$6(TestMethodTestDescriptor.java:202)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.invokeBeforeMethodsOrCallbacksUntilExceptionOccurs(TestMethodTestDescriptor.java:202)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.invokeBeforeEachMethods(TestMethodTestDescriptor.java:171)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.execute(TestMethodTestDescriptor.java:134)
	at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.execute(TestMethodTestDescriptor.java:68)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:151)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at java.base/java.util.ArrayList.forEach(ArrayList.java:1511)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.invokeAll(SameThreadHierarchicalTestExecutorService.java:41)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:155)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at java.base/java.util.ArrayList.forEach(ArrayList.java:1511)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.invokeAll(SameThreadHierarchicalTestExecutorService.java:41)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$6(NodeTestTask.java:155)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$8(NodeTestTask.java:141)
	at org.junit.platform.engine.support.hierarchical.Node.around(Node.java:137)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.lambda$executeRecursively$9(NodeTestTask.java:139)
	at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.executeRecursively(NodeTestTask.java:138)
	at org.junit.platform.engine.support.hierarchical.NodeTestTask.execute(NodeTestTask.java:95)
	at org.junit.platform.engine.support.hierarchical.SameThreadHierarchicalTestExecutorService.submit(SameThreadHierarchicalTestExecutorService.java:35)
	at org.junit.platform.engine.support.hierarchical.HierarchicalTestExecutor.execute(HierarchicalTestExecutor.java:57)
	at org.junit.platform.engine.support.hierarchical.HierarchicalTestEngine.execute(HierarchicalTestEngine.java:54)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:147)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:127)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:90)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.lambda$execute$0(EngineExecutionOrchestrator.java:55)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.withInterceptedStreams(EngineExecutionOrchestrator.java:102)
	at org.junit.platform.launcher.core.EngineExecutionOrchestrator.execute(EngineExecutionOrchestrator.java:54)
	at org.junit.platform.launcher.core.DefaultLauncher.execute(DefaultLauncher.java:114)
	at org.junit.platform.launcher.core.DefaultLauncher.execute(DefaultLauncher.java:86)
	at org.junit.platform.launcher.core.DefaultLauncherSession$DelegatingLauncher.execute(DefaultLauncherSession.java:86)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor$CollectAllTestClassesExecutor.processAllTestClasses(JUnitPlatformTestClassProcessor.java:124)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor$CollectAllTestClassesExecutor.access$000(JUnitPlatformTestClassProcessor.java:99)
	at org.gradle.api.internal.tasks.testing.junitplatform.JUnitPlatformTestClassProcessor.stop(JUnitPlatformTestClassProcessor.java:94)
	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.stop(SuiteTestClassProcessor.java:63)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
	at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
	at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
	at java.base/java.lang.reflect.Method.invoke(Method.java:569)
	at org.gradle.internal.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:36)
	at org.gradle.internal.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
	at org.gradle.internal.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:33)
	at org.gradle.internal.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:92)
	at jdk.proxy1/jdk.proxy1.$Proxy4.stop(Unknown Source)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker$3.run(TestWorker.java:200)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.executeAndMaintainThreadName(TestWorker.java:132)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.execute(TestWorker.java:103)
	at org.gradle.api.internal.tasks.testing.worker.TestWorker.execute(TestWorker.java:63)
	at org.gradle.process.internal.worker.child.ActionExecutionWorker.execute(ActionExecutionWorker.java:56)
	at org.gradle.process.internal.worker.child.SystemApplicationClassLoaderWorker.call(SystemApplicationClassLoaderWorker.java:121)
	at org.gradle.process.internal.worker.child.SystemApplicationClassLoaderWorker.call(SystemApplicationClassLoaderWorker.java:71)
	at worker.org.gradle.process.internal.worker.GradleWorkerMain.run(GradleWorkerMain.java:69)
	at worker.org.gradle.process.internal.worker.GradleWorkerMain.main(GradleWorkerMain.java:74)
	Suppressed: java.lang.NullPointerException: Cannot invoke "us.ihmc.footstepPlanning.FootstepPlanningModule.closeAndDispose()" because "this.footstepPlanningModule" is null
		at us.ihmc.avatar.networkProcessor.footstepPostProcessing.AvatarPostProcessingTests.destroySimulationAndRecycleMemory(AvatarPostProcessingTests.java:122)
		at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
		at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
		at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
		at java.base/java.lang.reflect.Method.invoke(Method.java:569)
		at org.junit.platform.commons.util.ReflectionUtils.invokeMethod(ReflectionUtils.java:727)
		at org.junit.jupiter.engine.execution.MethodInvocation.proceed(MethodInvocation.java:60)
		at org.junit.jupiter.engine.execution.InvocationInterceptorChain$ValidatingInvocation.proceed(InvocationInterceptorChain.java:131)
		at org.junit.jupiter.engine.extension.SameThreadTimeoutInvocation.proceed(SameThreadTimeoutInvocation.java:45)
		at org.junit.jupiter.engine.extension.TimeoutExtension.intercept(TimeoutExtension.java:156)
		at org.junit.jupiter.engine.extension.TimeoutExtension.interceptLifecycleMethod(TimeoutExtension.java:128)
		at org.junit.jupiter.engine.extension.TimeoutExtension.interceptAfterEachMethod(TimeoutExtension.java:110)
		at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker$ReflectiveInterceptorCall.lambda$ofVoidMethod$0(InterceptingExecutableInvoker.java:103)
		at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.lambda$invoke$0(InterceptingExecutableInvoker.java:93)
		at org.junit.jupiter.engine.execution.InvocationInterceptorChain$InterceptedInvocation.proceed(InvocationInterceptorChain.java:106)
		at org.junit.jupiter.engine.execution.InvocationInterceptorChain.proceed(InvocationInterceptorChain.java:64)
		at org.junit.jupiter.engine.execution.InvocationInterceptorChain.chainAndInvoke(InvocationInterceptorChain.java:45)
		at org.junit.jupiter.engine.execution.InvocationInterceptorChain.invoke(InvocationInterceptorChain.java:37)
		at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:92)
		at org.junit.jupiter.engine.execution.InterceptingExecutableInvoker.invoke(InterceptingExecutableInvoker.java:86)
		at org.junit.jupiter.engine.descriptor.ClassBasedTestDescriptor.invokeMethodInExtensionContext(ClassBasedTestDescriptor.java:520)
		at org.junit.jupiter.engine.descriptor.ClassBasedTestDescriptor.lambda$synthesizeAfterEachMethodAdapter$24(ClassBasedTestDescriptor.java:510)
		at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeAfterEachMethods$10(TestMethodTestDescriptor.java:243)
		at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeAllAfterMethodsOrCallbacks$13(TestMethodTestDescriptor.java:276)
		at org.junit.platform.engine.support.hierarchical.ThrowableCollector.execute(ThrowableCollector.java:73)
		at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.lambda$invokeAllAfterMethodsOrCallbacks$14(TestMethodTestDescriptor.java:276)
		at java.base/java.util.ArrayList.forEach(ArrayList.java:1511)
		at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.invokeAllAfterMethodsOrCallbacks(TestMethodTestDescriptor.java:275)
		at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.invokeAfterEachMethods(TestMethodTestDescriptor.java:241)
		at org.junit.jupiter.engine.descriptor.TestMethodTestDescriptor.execute(TestMethodTestDescriptor.java:142)
		... 63 more
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