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[Multi-models] SLAM stopped working after PT is stopped. #221

Open haoyunfeix opened 7 years ago

haoyunfeix commented 7 years ago

Steps:

  1. Enabled fisheye for PT and SLAM module and create instance.
  2. Run PT and SLAM at the same time.
  3. Stop PT module while SLAM is running.

Result: Segmentation fault (core dumped)

tingshao commented 7 years ago

@haoyunfeix Is this issue still valid after the configuration tips we mentioned in last sync meeting?

haoyunfeix commented 7 years ago

@tingshao, yes, still valid. Please help to check if I do something wrong at https://github.com/haoyunfeix/node-realsense-1/blob/1aca21bcbf883e297a48bcbc7f9bc008f62b58f3/src/test/test-pt-slam.js

haoyunfeix commented 7 years ago

Also you can simply to reproduce this issue with code https://github.com/01org/node-realsense/blob/master/src/example/run-or-pt-slam.js Step 1: change runPT() to runPT(5000) Step 2: node run-or-pt-slam.js

tingshao commented 7 years ago

Below is the call stack of running node run-or-pt-slam.js with runPT(5000), it seems stop the PT affected slam's motion callback though PT doesn't use motion data.

'-------------------------------------------------' Timeout, stopping person-tracking module. '-------------------------------------------------' SLAM: ontracking: EventInfo { cameraPose: [ 0.43756812810897827, -0.8991833925247192, 0.0018310844898223877, 0.22521911561489105, 0.898486852645874, 0.4371471703052521, -0.04029655456542969, 2.6658077239990234, 0.035433560609817505, 0.01927769184112549, 0.9991861581802368, 0.3839190602302551, 0, 0, 0, 1 ], accuracy: 'low' } OR: frameprocessed OR: recognition [ RecognitionInfo { probability: 0.9973440766334534, label: 'sofa' } ] SLAM: ontracking: EventInfo { cameraPose: [ 0.4376210570335388, -0.8991577625274658, 0.001786559820175171, 0.22572417557239532, 0.8984590768814087, 0.4372009038925171, -0.040332674980163574, 2.6525211334228516, 0.03548434376716614, 0.01925557851791382, 0.9991847276687622, 0.3837142884731293, 0, 0, 0, 1 ], accuracy: 'low' } OR: frameprocessed OR: recognition [ RecognitionInfo { probability: 0.9978131055831909, label: 'sofa' } ] SLAM: onerror: error: Junk time stamp in stream:4 with frame counter:161 SLAM: onerror: error: Junk time stamp in stream:0 with frame counter:155 OR: frameprocessed OR: recognition [ RecognitionInfo { probability: 0.9968453049659729, label: 'sofa' } ] SLAM: onerror: error: Junk time stamp in stream:0 with frame counter:156

Thread 15 "node" received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7fffc7148700 (LWP 31177)] 0x00007fffbe4c9f80 in ?? () (gdb) bt

0 0x00007fffbe4c9f80 in ?? ()

1 0x00007fffe32f0b18 in std::_Function_handler<void (rs::motion_data), CameraDelegateDevice::enable_motion_tracking(std::function<void (rs::motion_data)>, std::function<void (rs::timestamp_data)>)::{lambda(rs::motion_data)#1}>::_M_invoke(std::_Any_data const&, rs::motion_data&&) () from /home/tshao/work/code/01org/node-realsense/src/person-tracking/build/Release/realsense_person_tracking.node

2 0x00007fffe32f09d6 in rs::motion_callback::on_event(rs_motion_data) () from /home/tshao/work/code/01org/node-realsense/src/person-tracking/build/Release/realsense_person_tracking.node

3 0x00007fffefa0fabc in ?? () from /usr/lib/x86_64-linux-gnu/librealsense.so.1

4 0x00007fffefa7b29c in rsimpl::uvc::subdevice::poll_interrupts(libusb_device_handle, std::vector<rsimpl::uvc::subdevice, std::allocator<rsimpl::uvc::subdevice*> > const&, unsigned short) ()

from /usr/lib/x86_64-linux-gnu/librealsense.so.1

5 0x00007fffefa7b491 in std::thread::_Impl<std::_Bind_simple<rsimpl::uvc::device::start_data_acquisition()::{lambda()#1} ()> >::_M_run() () from /usr/lib/x86_64-linux-gnu/librealsense.so.1

6 0x00007ffff6204c80 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6

7 0x00007ffff757c6ba in start_thread (arg=0x7fffc7148700) at pthread_create.c:333

8 0x00007ffff596a82d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109

(gdb)