search

code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
873 stars 519 forks source link

kinect2_bridge: Segmentation fault #301

Closed bemery94 closed 8 years ago

bemery94 commented 8 years ago

Hi,

When I try to “$ rosrun kinect2_bridge kinect2_bridge”, is gives a segmentation fault. I have tested libfreenect2 by running ./Protonect, ./Protonect cl, ./Protonect gl, ./Protonect cpu and they all work correctly, producing correct images and throwing no errors.

I am using nvidia-352 drivers and installed cuda according to the instructions on the iai_kienct2 git page.

I ran the kinect2_bridge node in gdb mode, here is the output:

(gdb) run 
Starting program: /home/user/iai_kinect_ws/devel/lib/kinect2_bridge/kinect2_bridge 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe2e5a700 (LWP 7830)]
[New Thread 0x7fffe2659700 (LWP 7831)]
[New Thread 0x7fffe1e58700 (LWP 7832)]
[New Thread 0x7fffe1657700 (LWP 7837)]
[New Thread 0x7fffdbfff700 (LWP 7838)]
[New Thread 0x7fffdb7fe700 (LWP 7839)]
[ INFO] [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/user/iai_kinect_ws/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: opencl
     depth_device: -1
       reg_method: opencl
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 2
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: false
     base_name_tf: kinect2
   worker_threads: 4
[Info] [OpenCLDepthPacketProcessorImpl]  devices:
[Info] [OpenCLDepthPacketProcessorImpl]   0: GeForce GTX 960 (GPU)[NVIDIA Corporation]
[Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce GTX 960 (GPU)[NVIDIA Corporation]
[New Thread 0x7fffdaffd700 (LWP 7859)]
[New Thread 0x7fffc63ff700 (LWP 7860)]
[New Thread 0x7fffc5bfe700 (LWP 7861)]
[New Thread 0x7fffc53fd700 (LWP 7862)]
[New Thread 0x7fffc4bfc700 (LWP 7863)]
[New Thread 0x7fffbbfff700 (LWP 7864)]
[New Thread 0x7fffbb7fe700 (LWP 7865)]
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Warning] [OpenCLDepthPacketProcessorImpl] Your ocl-icd has deadlock bugs. Update to 2.2.4+ is recommended.
[New Thread 0x7fffb77d6700 (LWP 7866)]
[New Thread 0x7fffb6fd5700 (LWP 7867)]
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 12 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @2:3 with serial 507498242542
[Info] [Freenect2Impl] found 1 devices
[ INFO] [Kinect2Bridge::initDevice] Kinect2 devices found: 
[ INFO] [Kinect2Bridge::initDevice]   0: 507498242542 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[ INFO] [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [Kinect2Bridge::initDevice] device serial: 507498242542
[ INFO] [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped

Program received signal SIGSEGV, Segmentation fault.
0x00007ffff710d282 in cv::Mat::copyTo(cv::_OutputArray const&) const () from /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4
(gdb) bt
#0  0x00007ffff710d282 in cv::Mat::copyTo(cv::_OutputArray const&) const () from /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4
#1  0x000000000044abaf in cv::Mat::clone (this=0x7fffffffc828) at /opt/ros/indigo/include/opencv-3.1.0-dev/opencv2/core/mat.inl.hpp:643
#2  0x00000000004547c5 in Kinect2Bridge::initDevice (this=0x7fffffffc670, sensor="507498242542")
    at /home/user/iai_kinect_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:603
#3  0x000000000044f7eb in Kinect2Bridge::initialize (this=0x7fffffffc670)
    at /home/user/iai_kinect_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:305
#4  0x000000000044d3b1 in Kinect2Bridge::start (this=0x7fffffffc670) at /home/user/iai_kinect_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:152
#5  0x0000000000448916 in main (argc=1, argv=0x7fffffffd5f8) at /home/user/iai_kinect_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1603
(gdb)

Let me know if you need any more information. Thanks for your help.

kohrt commented 8 years ago

At the point where it crashed, it just copies a matrix that is created some lines before. This shouldn't crash at all, I guess something with your system is wrong.

bemery94 commented 8 years ago

Thanks for the quick reply! I worked out the issue, it's my fault. It appears that the computer that I am using has OpenCv 2.4.8 installed but it also had the OpenCv3 ROS package installed. After removing the ROS package it all works fine