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ros-drivers / video_stream_opencv

A package to open video streams and publish them in ROS using the opencv videocapture mechanism
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SIGSEGV (Segfault) in image_view #70

Closed aytimothy closed 4 years ago

aytimothy commented 4 years ago

I've had to upgrade ROS from kinetic to melodic due to the repositories being shut down. So, previously, on kinetic, I've had no problem running video_stream_opencv straight out of the box without any problems, at least for the webcam. However, come to melodic, it seems that image_view always triggers a SIGSEGV (segfault) and dies.

aytimothy@ubuntu:~$ roslaunch video_stream_opencv webcam.launch
... logging to /home/aytimothy/.ros/log/3c846264-8cdc-11ea-9c80-dca63244e983/roslaunch-ubuntu-28435.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:38679/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /webcam/webcam_stream/buffer_queue_size: 1
 * /webcam/webcam_stream/camera_info_url: 
 * /webcam/webcam_stream/camera_name: webcam
 * /webcam/webcam_stream/flip_horizontal: False
 * /webcam/webcam_stream/flip_vertical: False
 * /webcam/webcam_stream/fps: 30.0
 * /webcam/webcam_stream/frame_id: webcam_optical_frame
 * /webcam/webcam_stream/height: 0
 * /webcam/webcam_stream/loop_videofile: False
 * /webcam/webcam_stream/set_camera_fps: 30.0
 * /webcam/webcam_stream/video_stream_provider: 0
 * /webcam/webcam_stream/width: 0

NODES
  /webcam/
    webcam_image_view (image_view/image_view)
    webcam_stream (video_stream_opencv/video_stream)

ROS_MASTER_URI=http://localhost:11311

process[webcam/webcam_stream-1]: started with pid [28451]
process[webcam/webcam_image_view-2]: started with pid [28452]
[ INFO] [1588472410.274417096]: Resource video_stream_provider: 0
[ INFO] [1588472410.278582490]: Getting video from provider: /dev/video0
[ INFO] [1588472411.128208668]: Video stream provider type detected: videodevice
[ INFO] [1588472411.131100702]: Camera name: webcam
[ INFO] [1588472411.134295054]: Setting camera FPS to: 30
[ INFO] [1588472411.203305255]: Camera reports FPS: 25
[ INFO] [1588472411.207589551]: Setting buffer size for capturing frames to: 1
[ INFO] [1588472411.211263970]: Throttling to fps: 30
[ INFO] [1588472411.215136713]: Publishing with frame_id: webcam_optical_frame
[ INFO] [1588472411.220204134]: Provided camera_info_url: ''
[ INFO] [1588472411.227309579]: Flip horizontal image is: false
[ INFO] [1588472411.233874274]: Flip vertical image is: false
[ INFO] [1588472411.246008345]: using default calibration URL
[ INFO] [1588472411.246228408]: camera calibration URL: file:///home/aytimothy/.ros/camera_info/webcam.yaml
[ INFO] [1588472411.246496505]: Unable to open camera calibration file [/home/aytimothy/.ros/camera_info/webcam.yaml]
[ WARN] [1588472411.246620369]: Camera calibration file /home/aytimothy/.ros/camera_info/webcam.yaml not found.
[ INFO] [1588472411.246728011]: Opened the stream, starting to publish.
[ WARN] [1588472412.115673857]: No calibration file given, publishing a reasonable default camera info.
[ INFO] [1588472412.115804609]: The image width is: 640
[ INFO] [1588472412.115878291]: The image height is: 480
[webcam/webcam_image_view-2] process has died [pid 28452, exit code -11, cmd /opt/ros/melodic/lib/image_view/image_view image:=image_raw __name:=webcam_image_view __log:=/home/aytimothy/.ros/log/3c846264-8cdc-11ea-9c80-dca63244e983/webcam-webcam_image_view-2.log].
log file: /home/aytimothy/.ros/log/3c846264-8cdc-11ea-9c80-dca63244e983/webcam-webcam_image_view-2*.log

I'm not sure what is going on, because I have had my /dev/video0 available for user read/write and cheese seems to be able to open it fine without having the need to be sudo'd.

This is the stacktrace that was outputted by the crash detector:

Stacktrace:
 #0  0x0000ffffb4040978 in cvConvertImage () at /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.3.2
 #1  0x0000ffffb4017aa4 in  () at /usr/lib/aarch64-linux-gnu/libopencv_highgui.so.3.2
 #2  0x0000ffffb4019d04 in cvShowImage () at /usr/lib/aarch64-linux-gnu/libopencv_highgui.so.3.2
 #3  0x0000ffffb40168dc in cv::imshow(cv::String const&, cv::_InputArray const&) () at /usr/lib/aarch64-linux-gnu/libopencv_highgui.so.3.2
 #4  0x0000ffffb42d7b58 in image_view::ImageNodelet::windowThread() () at /opt/ros/melodic/lib//libimage_view.so
 #5  0x0000ffffb86cbfe8 in  () at /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.65.1
 #6  0x0000ffffb8695088 in start_thread (arg=0xffffe915e65f) at pthread_create.c:463

I don't think it's any help, but the logs files mentioned in the console output are both empty.

awesomebytes commented 4 years ago

Hello,

I've had to upgrade ROS from kinetic to melodic due to the repositories being shut down.

Kinetic's end of life is set to April 2021. We should have one year more of it?

So, previously, on kinetic, I've had no problem running video_stream_opencv straight out of the box without any problems, at least for the webcam. However, come to melodic, it seems that image_view always triggers a SIGSEGV (segfault) and dies.

We use image_view as a tool to visualize, but we aren't maintaining it. I can see a couple of issues in the image_pipeline repository describing your same error:

My recommendation is to record a rosbag of the topics provided by video_stream_opencv of short duration and check if image_view crashes with playing the rosbag instead of the node running. (I think it should... as image_view is just trying to show images from the ROS Image message format).

If you manage to reproduce it, reply to one of those issues (probably 498) attaching your rosbag and explaining it reproduces the problem. I'm sure the developers will be very happy to have a reproducible case.

Edit: Also, you can use rosrun rqt_image_view rqt_image_view or Rviz and add a panel for Images to visualize the stream too :) (both have different implementations, they may and probably do work).

aytimothy commented 4 years ago

I've had to upgrade ROS from kinetic to melodic due to the repositories being shut down.

Kinetic's end of life is set to April 2021. We should have one year more of it?

That's what I thought too. Tried it on numerous new installations, all failed to find any packages that were for kinetic.

Going to attempt to reproduce it now. Closing as wrong place to ask, and thanks for the pointers.

For reference, we're using the /webcam/image_compressed for its PNG/JPEG file stream, and it seems that both died along with image_view

awesomebytes commented 4 years ago

@aytimothy I just tried to install Kinetic (desktop_full, following the official instructions) on a Docker environment with Ubuntu 16.04 and it worked no problem. I'm actually working on a Ubuntu 16.04 system and I updated some ROS Kinetic packages just last week.

I also maintain a continuous integration build of both ROS Kinetic and Melodic over Gentoo (Prefix) and they are both building (with some hickups sometimes, but they build).

Maybe you want to copy-paste the errors you are having and I may be able to give you a hand? That said, starting a project in Melodic would be probably the best approach these days :)

If your problem is related to the compressed version of the images, you may be having problems with image_transport. It is contained in the repo: https://github.com/ros-perception/image_common which I haven't seen any particularly interesting issue related to what you comment.

aytimothy commented 4 years ago

Oh, I just realized, I'm on 18.04, so that would be why Kinetic wasn't working (it's for 16.x). Oops, but unrelated to the actual issue at hand.

Should worth mentioning that when I was on kinetic, it is indeed 16.04.

awesomebytes commented 4 years ago

@aytimothy makes sense then!