[Multi-models] Core dump when invoke SLAM method when running PT or OR modules.

[haoyunfeix]

Modules	Result
PT + OR	Pass
PT + SLAM	Fail
PT + SLAM	Fail
PT + OR + SLAM	Fail

Environment: Joule 570x Ubuntu 16.04 + Realsense ZR300 PC Ubuntu 16.04 + Realsense ZR300

Test cases: https://github.com/haoyunfeix/node-realsense-1/blob/2cdaf0d5b790d3a5b961479fa1cf2572db35b40a/src/test/test-or-slam.js

Result: Segmentation fault (core dumped)

More details:

• There must be a time gap between SLAM->PT or SLAM->OR
• The time gap is at least 1 second for Joule Board.

[kenny-y]

Some findings:

The first test case:

  it('Make sure SLAM + OR can be run/stop at (almost) the same time', function() {
    // eslint-disable-next-line
    this.timeout(60 * 1000);
    return Promise.all([verifySLAM(100), verifyOR(100)]);
  });

will timeout due to no tracking event of SLAM module will be triggered, and therefore the rest of the cases won't be able to run successfully (because SLAM module is still running after the timeout), the following is the output of my console (log lines added to the test suite)

run OR
SLAM created
run SLAM
SLAM started
stopping OR
OR is stopped

Now I'm tracking down the reason why tracking event of SLAM module is not sent.

[kenny-y]

Follow-up finding: fisheye should be enabled to run SLAM module.

const cameraOptions = {
  color: {
    width: 640,
    height: 480,
    frameRate: 30,
    isEnabled: true,
  },
  fisheye: {
    width: 640,
    height: 480,
    frameRate: 30,
    isEnabled: true,
  },
  depth: {
    width: 320,
    height: 240,
    frameRate: 30,
    isEnabled: true,
  },
};

function runSLAM(slam) {
  console.log('run SLAM');
  return slam.setCameraOptions(cameraOptions).then(function() {
    return slam.start();
  });
}

function runOR(or) {
  return or.setObjectRecognitionOptions({
    mode: 'single-recognition',
    confidenceThreshold: 0.3,
    computeEngine: 'CPU',
    enableSegmentation: true,
    maxReturnObjectCount: 2,
    enableObjectCenterEstimation: false,
  }).then(function() {
    return or.setCameraOptions(cameraOptions);
  }).then(function() {
    console.log('run OR');
    return or.start();
  });
}

After enabling this, the first test case can pass, investigating the rest.

[kenny-y]

in the 2nd test case, the call to camera control interface enable_motion_tracking() will hang and never return, causing the rest test cases to timeout...

[kenny-y]

enable_motion_tracking() is not the only function that will hang, other "plain" functions can also hang, e.g. get_device_count(). I guess camera is out of control due to some reason... need to find the root cause.

[kenny-y]

Suggest to close this issue -- the root cause of this issue is that the CameraOptions is not set to "fisheye enabled"

And then open up a new issue -- describe the never return librealsense API call after the below sequence

1. Start [OR|PT] + SLAM
2. Stop [OR|PT] + SLAM
3. Start [OR|PT] + SLAM
4. In one step in the API calling sequence to starting camera, an API call will hang. e.g. enable_motion_tracking() or get_device_count().

CC @haoyunfeix

[kenny-y]

Opening #194 and closing this one.