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Intermodalics / tango_ros

ROS related software for Tango
Apache License 2.0
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rectification.cc: Check failed. Fatal signal 6 (SIGABRT). #360

Closed malteim closed 7 years ago

malteim commented 7 years ago

With depth camera enabled, tango_ros_streamer crashes with this error, after it tried to connerct to tango service. If the depth camera is disabled, tango service can connect and I recieve device positions via rostopic echo /tf.

The last two lines of the logcat

A/tango: rectification.cc:222 Check failed: image_out->width() == reverse_rectification.mask->width()
A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 31100 (Thread-406)

The full message

I/Registrar: Response<Success, Registered [/parameter_node] as publisher of [/rosout], [http://im-desktop-006:59268/]>
I/DefaultPublisher: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</parameter_node, http://192.168.168.209:43463/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
I/DefaultPublisher: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.168.209:44050/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
I/DefaultPublisher: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</tango_service_client_node, http://192.168.168.209:48753/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
I/Registrar: Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.168.209:44050/>, TopicIdentifier</android/imu>>, Topic<TopicIdentifier</android/imu>, TopicDescription<sensor_msgs/Imu, 6a62c6daae103f4ff57a132d6f95cec2>>>>
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoConfig
I/Registrar: Registering subscriber: Subscriber<Topic<TopicIdentifier</tango/status>, TopicDescription<std_msgs/Int8, 27ffa0c9c4b8fb8492252bcad9e5c57b>>>
I/Registrar: Response<Success, Registered [/android] as publisher of [/android/imu], []>
I/DefaultPublisher: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</android, http://192.168.168.209:44050/>, TopicIdentifier</android/imu>>, Topic<TopicIdentifier</android/imu>, TopicDescription<sensor_msgs/Imu, 6a62c6daae103f4ff57a132d6f95cec2>>>>
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoPoseData
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoPointCloudData
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoEvent
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoTransformation
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoFoiResult
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoCameraIntrinsics
E/tango: class_util.cc:20 Failed to load Java class com/google/atap/tangoservice/TangoAreaDescriptionMetaData
I/NativeNodeMain: Trying to load native library 'nodelet_manager'...
I/tango_client_api: TangoErrorType TangoService_setBinder(void*, void*): Passing back the binder on the client end...
I/RunningActivity: Version of Tango is ok.
I/Registrar: Response<Success, Subscribed to [/tango/status], [http://192.168.168.209:48266/]>
I/DefaultSubscriber: Subscriber registered: Subscriber<Topic<TopicIdentifier</tango/status>, TopicDescription<std_msgs/Int8, 27ffa0c9c4b8fb8492252bcad9e5c57b>>>
I/Registrar: MasterXmlRpcEndpoint URI: http://im-desktop-006:11311
E/UpdatePublisherRunnable: java.lang.RuntimeException: java.net.ConnectException: failed to connect to /192.168.168.209 (port 48266) after 60000ms: isConnected failed: ECONNREFUSED (Connection refused)
I/Registrar: Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</tango, http://192.168.168.209:49115/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
I/Registrar: Response<Success, Registered [/tango] as publisher of [/rosout], [http://im-desktop-006:59268/]>
I/DefaultPublisher: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</tango, http://192.168.168.209:49115/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
I/native: jni.cc:62 No remapping to be done.
E/ngo_service_client_node: Service '/tango/connect' not found!
E/RunningActivity: Trying to connect to Tango, attempt 1
I//parameter_node: Upload preferences to parameter server.
I/SlaveXmlRpcEndpointImpl: Shutdown requested by /master with message "new node registered with same name"
I/native: jni.cc:91 Start loading nodelets.
I/native: jni.cc:97 Finished loading nodelets.
I/tango_client_api: void* TangoService_getConfig(TangoConfigType): Getting config...
I/tango_client_api: void* TangoService_getConfig(TangoConfigType): Done getting config.
I/tango_client_api: TangoErrorType TangoService_connectOnPoseAvailable(uint32_t, const TangoCoordinateFramePair*, void (*)(void*, const TangoPoseData*), ...): Connecting callbacks...
I/tango_client_api: TangoErrorType TangoService_connectOnPoseAvailable(uint32_t, const TangoCoordinateFramePair*, void (*)(void*, const TangoPoseData*), ...): Done connecting callbacks.
I/tango_client_api: TangoErrorType TangoService_connectOnPoseAvailable(uint32_t, const TangoCoordinateFramePair*, void (*)(void*, const TangoPoseData*), ...): Totally done connecting pose callback.
I/tango_client_api: TangoErrorType TangoService_connectOnPointCloudAvailable(void (*)(void*, const TangoPointCloud*), ...): Connecting callbacks...
I/tango_client_api: TangoErrorType TangoService_connectOnPointCloudAvailable(void (*)(void*, const TangoPointCloud*), ...): Done connecting callbacks.
I/tango_client_api: TangoErrorType TangoService_connectOnFrameAvailable(TangoCameraId, void*, void (*)(void*, TangoCameraId, const TangoImageBuffer*)): Connecting callbacks...
I/tango_client_api: TangoErrorType TangoService_connectOnFrameAvailable(TangoCameraId, void*, void (*)(void*, TangoCameraId, const TangoImageBuffer*)): Done connecting callbacks.
I/tango_client_api: TangoErrorType TangoService_connectOnFrameAvailable(TangoCameraId, void*, void (*)(void*, TangoCameraId, const TangoImageBuffer*)): Connecting callbacks...
I/tango_client_api: TangoErrorType TangoService_connectOnFrameAvailable(TangoCameraId, void*, void (*)(void*, TangoCameraId, const TangoImageBuffer*)): Done connecting callbacks.
I/tango_client_api: TangoErrorType TangoService_connect(void*, TangoConfig): Connecting to Tango...
E/tango_client_api: TangoErrorType TangoService_connect(void*, TangoConfig): Enable color camera
I/tango_client_api: TangoErrorType TangoService_connect(void*, TangoConfig): Successfully connected to Tango.
W/native: tango_ros_node.cpp:838 Could not find a valid pose at time 10443.5 for the depth camera.
W/native: tango_ros_node.cpp:838 Could not find a valid pose at time 10443.7 for the depth camera.
I/tango_client_api: TangoErrorType TangoService_getCameraIntrinsics(TangoCameraId, TangoCameraIntrinsics*): Getting camera intrinsics...
I/tango_client_api: TangoErrorType TangoService_getCameraIntrinsics(TangoCameraId, TangoCameraIntrinsics*): Done getting camera intrinsics.
I/tango_client_api: TangoErrorType TangoService_getCameraIntrinsics(TangoCameraId, TangoCameraIntrinsics*): Getting camera intrinsics...
I/tango_client_api: TangoErrorType TangoService_getCameraIntrinsics(TangoCameraId, TangoCameraIntrinsics*): Done getting camera intrinsics.
A/tango: rectification.cc:222 Check failed: image_out->width() == reverse_rectification.mask->width() 
A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 31100 (Thread-406)