pano_cv/opencv.cpp panorama integration silent fail [indigo]

[kentsommer]

In the functon convert_from_cvmat, both the call PyString_Check(m->data) and PyObject_AsWriteBuffer(m->data, &buffer, &buffer_len) will cause the pano_server to die silently. m->data looks like it is returning an int in hex while m is simply a pointer to a location in memory (The last debug print I ran returned: "m->data print: 0x3" and "m print: 0x245a250")

PyObject_AsWriteBuffer is deprecated in python2, however, it doesn't seem to be the reason for the issue above.

datatype passed into convert_from_cvmat is numpy.ndarray. My best guess as to why the above behavior is being exhibited is that both PyString_Check and PyObject_AsWriteBuffer cannot handle the input type and just quit silently.

Steps to reproduce on indigo

On turtlebot run:

• roslaunch turtlebot_bringup minimal.launch
• roslaunch turtlebot_panorama panorama.launch --screen
• rosservice call turtlebot_panorama/take_pano 1 360.0 30.0 0.3

Will run until it hits one of the two above function calls and then the process will die printing: [pano_server-6] process has died [pid 5853, exit code -11]

[jihoonl]

Can you link the file which causes the problem?

[jihoonl]

https://github.com/turtlebot/turtlebot_apps/blob/indigo/software/pano/pano_py/src/pano_cv/opencv.cpp#L52

[jihoonl]

@stonier cmake_modules dependency would help this issue? Since it is using numpy?

[kentsommer]

Progress!

In capture_server.py I added a conversion from numpy.ndarray to cv2.cv.cvarray. That image can be passed to pcv.convertCvMat2Mat which does the final conversion to cv::Mat before finally passing the fully converted image to the stitch engine.

The turtlebot will now rotate while taking pictures and publishing them (verified).

Current issues

• The pano_server still dies silently after finishing taking pictures and completing its rotation.
  • Appears to be an bug inside the stop() function in capture_server.py
• Currently is taking less pictures than it should with the given parameters.

[kentsommer]

Fixed/Updated

See pull request #99 for more information. Closing this out since fix has been merged in #99