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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
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segmentation fault #336

Closed behnamasadi closed 7 years ago

behnamasadi commented 7 years ago

Moin I'm getting segmentation fault in opencv whenever I try to call kinect2_bridge My setup is: Ubuntu: 14.04 64 ROS: indigo OpenCV: 2.4.8 (binary opencv comes with ROS) Libfreenect: compiled with c++11- All of these are working: ./Protonect gl and
./Protonect cl to and ./Protonect cpu)

This is otput of gdb of kinect2_bridge Starting program: /home/behnam/iai_kinect2_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 0x7fffe1ae5700 (LWP 12554)] [New Thread 0x7fffe12e4700 (LWP 12555)] [New Thread 0x7fffe0ae3700 (LWP 12556)] [New Thread 0x7fffdbfff700 (LWP 12561)] [New Thread 0x7fffdb014700 (LWP 12562)] [New Thread 0x7fffda813700 (LWP 12563)] [ INFO] [Kinect2Bridge::initialize] parameter: base_name: kinect2 sensor: default fps_limit: -1 calib_path: /home/behnam/iai_kinect2_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 Beignet: self-test failed: (3, 7, 5) + (5, 7, 3) returned (3, 7, 5) This can usually be fixed by upgrading Linux to >= 4.2, see /usr/share/doc/beignet-opencl-icd/Beignet.mdwn.gz or http://www.freedesktop.org/wiki/Software/Beignet/ Beignet: Warning - overriding self-test failure Beignet: Warning - overriding self-test failure [Info] [OpenCLDepthPacketProcessorImpl] devices: [Info] [OpenCLDepthPacketProcessorImpl] 0: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel] [Info] [OpenCLDepthPacketProcessorImpl] selected device: Intel(R) HD Graphics Haswell GT2 Mobile (GPU)[Intel] [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. libva info: VA-API version 0.39.0 libva info: va_getDriverName() returns 0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so libva info: Found init function __vaDriverInit_0_39 libva info: va_openDriver() returns 0 [Info] [VaapiRgbPacketProcessorImpl] driver: Intel i965 driver for Intel(R) Haswell Mobile - 1.7.0 [New Thread 0x7fffd8c37700 (LWP 12583)] [New Thread 0x7fffcbfff700 (LWP 12584)] [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 17 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @4:3 with serial 003851462247 [Info] [Freenect2Impl] found 1 devices [ INFO] [Kinect2Bridge::initDevice] Kinect2 devices found: [ INFO] [Kinect2Bridge::initDevice] 0: 003851462247 (selected) [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*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: 003851462247 [ 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. 0x00007ffff714b642 in cv::Mat::copyTo(cv::_OutputArray const&) const () from /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4 (gdb) bt

0 0x00007ffff714b642 in cv::Mat::copyTo(cv::_OutputArray const&) const () from /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4

1 0x000000000044abbf in cv::Mat::clone (this=0x7fffffffc9d8) at /opt/ros/indigo/include/opencv-3.1.0-dev/opencv2/core/mat.inl.hpp:643

2 0x00000000004547d5 in Kinect2Bridge::initDevice (this=0x7fffffffc820, sensor="003851462247") at /home/behnam/iai_kinect2_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:603

3 0x000000000044f7fb in Kinect2Bridge::initialize (this=0x7fffffffc820) at /home/behnam/iai_kinect2_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:305

4 0x000000000044d3c1 in Kinect2Bridge::start (this=0x7fffffffc820) at /home/behnam/iai_kinect2_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:152

5 0x0000000000448926 in main (argc=1, argv=0x7fffffffd7a8) at /home/behnam/iai_kinect2_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:1603

behnamasadi commented 7 years ago

I had this problem for a while and I tried everything, till I just saw OpenCv3 ROS was there. I removed that and the problem is gone,