Segmentation fault when training

[Wesley-Lin]

Hi Sir, I think that my issue is related to platform, I mean ORK has some problem is ARM. Because the ORK can run on my x86 desktop properly, however, that happen in Tegra TK1 (ARM). I post the gdb message.

gdb --args python ./training -c rospack find object_recognition_linemod/conf/training.ork --visualize GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1 Copyright (C) 2014 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "arm-linux-gnueabihf". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from python...(no debugging symbols found)...done. (gdb) r Starting program: /usr/bin/python ./training -c /home/ubuntu/catkin_ws/src/ork/linemod/conf/training.ork --visualize [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/arm-linux-gnueabihf/libthread_db.so.1". [New Thread 0xadd21460 (LWP 3417)] Training 1 objects. computing object_id: f3f45b3ae96a87c3508e19cf6d000405 [New Thread 0xad4a1460 (LWP 3419)] [Thread 0xad4a1460 (LWP 3419) exited]

Program received signal SIGSEGV, Segmentation fault. _Constructcv::Ptr<cv::linemod::Modality, cv::Ptrcv::linemod::Modality > (value=..., p=0x774b9008) at /usr/include/c++/4.8/bits/stl_construct.h:83 83 ::new(static_cast<void*>(__p)) _T1(__value); (gdb)

Can anyone help me solve the issue ? Thanks in advance.

[hris2003]

Hi,

Given the debug message, it seems that it relates to OpenCV. Did you try to ask OpenCV forum about this?

Regards, Ha Dang.

On Wed, Aug 31, 2016 at 9:24 AM, Wesley-Lin notifications@github.com wrote:

Hi Sir, I think that my issue is related to platform, I mean ORK has some problem is ARM. Because the ORK can run on my x86 desktop properly, however, that happen in Tegra TK1 (ARM). I post the gdb message.

gdb --args python ./training -c rospack find object_recognition_linemod/conf/training.ork --visualize GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1 Copyright (C) 2014 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl. html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "arm-linux-gnueabihf". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from python...(no debugging symbols found)...done. (gdb) r Starting program: /usr/bin/python ./training -c /home/ubuntu/catkin_ws/src/ork/linemod/conf/training.ork --visualize [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/arm-linux-gnueabihf/ libthread_db.so.1". [New Thread 0xadd21460 (LWP 3417)] Training 1 objects. computing object_id: f3f45b3ae96a87c3508e19cf6d000405 [New Thread 0xad4a1460 (LWP 3419)] [Thread 0xad4a1460 (LWP 3419) exited]

Program received signal SIGSEGV, Segmentation fault. _Constructcv::Ptr<cv::linemod::Modality, cv::Ptrcv::linemod::Modality > (value=..., p=0x774b9008) at /usr/include/c++/4.8/bits/stl_construct.h:83 83 ::new(static_cast(__p)) _T1(__value); (gdb)

Can anyone help me solve the issue ? Thanks in advance.

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[Wesley-Lin]

Hi @hris2003

I have not asked OpenCV forum yet, I will do it soon. Would you mind tell me which OpenCV version is more suitable ? On my TK1, the OpenCV version is 2.4.11. Thanks again for your reply, the issue bothered me for a few days.

[hris2003]

For what I know, ORK under indigo works best with OpenCV 2.4.11.

On Wed, Aug 31, 2016 at 9:47 AM, Wesley-Lin notifications@github.com wrote:

Hi @hris2003 https://github.com/hris2003

I have not asked OpenCV forum yet, I will do it soon. Would you mind tell me which OpenCV version is more suitable ? On my TK1, the OpenCV version is 2.4.11. Thanks again for your reply, the issue bothered me for a few days.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/wg-perception/object_recognition_core/issues/44#issuecomment-243685525, or mute the thread https://github.com/notifications/unsubscribe-auth/ACD8jpThWzzTRY7OWtT9Y1DFEto9_n1lks5qlTGegaJpZM4JxTvc .

[Wesley-Lin]

Hi @hris2003

After I run the backtrace command "bt", I guess that the root cause might be at /home/ubuntu/catkin_ws/src/ork/linemod/src/linemod_train.cpp:159

(gdb) bt

0 _Constructcv::Ptr<cv::linemod::Modality, cv::Ptrcv::linemod::Modality > (value=..., p=0x774b9008)

at /usr/include/c++/4.8/bits/stl_construct.h:83

1 uninit_copy<__gnu_cxx::normaliteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr >, cv::Ptrcv::linemod::Modality_> (result=0x774b9008, last=..., __first=...) at /usr/include/c++/4.8/bits/stl_uninitialized.h:75

2 uninitialized_copy<gnu_cxx::__normaliteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr >, cv::Ptrcv::linemod::Modality_> (result=0x774b9008, last=..., first=...)

at /usr/include/c++/4.8/bits/stl_uninitialized.h:117

3 uninitialized_copy_a<gnu_cxx::__normaliteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr >, cv::Ptrcv::linemod::Modality_, cv::Ptrcv::linemod::Modality > (__result=0x774b9008,

last=<error reading variable: Cannot access memory at address 0x35646d22>, first=...) at /usr/include/c++/4.8/bits/stl_uninitialized.h:258

4 _M_allocate_and_copy<__gnu_cxx::normaliteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr > > (this=0x38efdc, last=..., first=..., n=111971748) at /usr/include/c++/4.8/bits/stl_vector.h:1141

5 std::vectorcv::Ptr<cv::linemod::Modality, std::allocatorcv::Ptr >::operator= (

this=this@entry=0x38efdc, __x=std::vector of length 111971748, capacity 141151269 = {...}) at /usr/include/c++/4.8/bits/vector.tcc:188

6 0xb1e2d338 in operator= (this=0x38efdc) at /opt/ros/indigo/include/opencv-3.1.0-dev/opencv2/rgbd/linemod.hpp:321

7 ecto_linemod::Trainer::process (this=0x820480, inputs=..., outputs=...)

at /home/ubuntu/catkin_ws/src/ork/linemod/src/linemod_train.cpp:159

8 0xb6530962 in ecto::cell::process_with_only_these_inputs(ecto::tendrils const&) () from /opt/ros/indigo/lib/libecto.so.0.6

9 0xb659d978 in ecto::graph::invoke_process(ecto::graph::graph_t&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

10 0xb6598096 in ecto::scheduler::execute_iter(unsigned int, unsigned int, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

11 0xb6599704 in boost::asio::detail::completion_handler<boost::_bi::bind_t<void, boost::_mfi::mf3<void, ecto::scheduler, unsigned int, unsigned int, unsigned int>, boost::_bi::list4<boost::bi::value<ecto::scheduler>, boost::_bi::value, boost::_bi::value, boost::_bi::value > > >::do_complete(boost::asio::detail::task_ioservice, boost::asio::detail::task_io_serviceoperation, boost::system::error_code const&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

12 0xb659a0fc in boost::asio::detail::task_io_service::do_run_one(boost::asio::detail::scoped_lockboost::asio::detail::posix_mutex&, boost::asio::detail::task_io_service_thread_info&, boost::system::error_code const&) () from /opt/ros/indigo/lib/libecto.so.0.6

13 0xb659a5c6 in boost::asio::detail::task_io_service::run(boost::system::error_code&) () from /opt/ros/indigo/lib/libecto.so.0.6

14 0xb6598942 in ecto::scheduler::run() () from /opt/ros/indigo/lib/libecto.so.0.6

15 0xb65989ce in ecto::scheduler::execute(unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

16 0xb3a58fd8 in ecto::cell_ecto::py::BlackBox::dispatch_process(ecto::tendrils const&, ecto::tendrils const&) ()

from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

17 0xb6530962 in ecto::cell::process_with_only_these_inputs(ecto::tendrils const&) () from /opt/ros/indigo/lib/libecto.so.0.6

18 0xb659d978 in ecto::graph::invoke_process(ecto::graph::graph_t&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

19 0xb6598096 in ecto::scheduler::execute_iter(unsigned int, unsigned int, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

20 0xb6599658 in boost::asio::detail::completion_handler<boost::_bi::bind_t<void, boost::_mfi::mf3<void, ecto::scheduler, unsigned int, unsigned int, unsigned int>, boost::_bi::list4boost::_bi::value<ecto::scheduler*, boost::_bi::value, boost::_bi::value, boost::_bi::value > > >::do_complete(boost::asio::detail::task_ioservice, boost::asio::detail::task_io_serviceoperation, boost::system::error_code const&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

21 0xb659a0fc in boost::asio::detail::task_io_service::do_run_one(boost::asio::detail::scoped_lockboost::asio::detail::posix_mutex&, boost::asio::detail::task_io_service_thread_info&, boost::system::error_code const&) () from /opt/ros/indigo/lib/libecto.so.0.6

22 0xb659a5c6 in boost::asio::detail::task_io_service::run(boost::system::error_code&) () from /opt/ros/indigo/lib/libecto.so.0.6

23 0xb6598942 in ecto::scheduler::run() () from /opt/ros/indigo/lib/libecto.so.0.6

24 0xb65989ce in ecto::scheduler::execute(unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

25 0xb3a6f00a in ecto::plasm_wrapper::plasm_execute(boost::shared_ptrecto::plasm, unsigned int) ()

from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

26 0xb3a7227e in boost::python::objects::caller_py_function_impl<boost::python::detail::caller<bool (*)(boost::shared_ptr, unsigned int), boost::python::default_call_policies, boost::mpl::vector3<bool, boost::shared_ptr, unsigned int> > >::operator()(object, object) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

27 0xb615c1e0 in boost::python::objects::function::call(object, object) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

28 0xb615c34a in ?? () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

29 0xb61628f0 in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

---Type to continue, or q to quit--- from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

30 0xb3a6e3f8 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::NullTendril, void ()(ecto::except::NullTendril const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::NullTendril const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

31 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

32 0xb3a6e3cc in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::AlreadyConnected, void ()(ecto::except::AlreadyConnected const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::AlreadyConnected const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

33 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

34 0xb3a6e3a0 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::NotConnected, void ()(ecto::except::NotConnected const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::NotConnected const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

35 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

36 0xb3a6e374 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::CellException, void ()(ecto::except::CellException const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::CellException const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

37 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

38 0xb3a6e348 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::TendrilRedeclaration, void ()(ecto::except::TendrilRedeclaration const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::TendrilRedeclaration const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

39 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

40 0xb3a6e31c in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::FailedFromPythonConversion, void ()(ecto::except::FailedFromPythonConversion const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::FailedFromPythonConversion const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

41 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

42 0xb3a6e2f0 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::NonExistant, void ()(ecto::except::NonExistant const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::NonExistant const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

43 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

44 0xb3a6e2c4 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::ValueRequired, void ()(ecto::except::ValueRequired const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::ValueRequired const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0<voi---Type to continue, or q to quit---

d> const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

45 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

46 0xb3a6e298 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::ValueNone, void ()(ecto::except::ValueNone const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::ValueNone const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&)

() from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

47 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

48 0xb3a6e26c in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::TypeMismatch, void ()(ecto::except::TypeMismatch const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::TypeMismatch const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

49 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

50 0xb3a6e240 in boost::detail::function::function_obj_invoker2<boost::_bi::bind_t<bool, boost::python::detail::translate_exception<ecto::except::EctoException, void ()(ecto::except::EctoException const&)>, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value<void ()(ecto::except::EctoException const&)> > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

51 0xb6162778 in boost::python::handle_exception_impl(boost::function0) ()

from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

52 0xb615b488 in ?? () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

Backtrace stopped: previous frame identical to this frame (corrupt stack?) (gdb)

Could you please give me some advise ? Thank you

[hris2003]

Well, from the error message, it seems that linemod was trying to copy/get the the image to build its modality layers. Maybe the image encoding on ARM is different than on a traditional linux?

Do you think you can provide a rosbag of the training data on your ARM processor? Or just make a rosbag on the ARM machine and run ORK with that rosbag on a traditional linux?

Have you tried contacting OpenCV? Given that linemod is part of OpenCV, they might have a better idea about the error.

Regards, Ha Dang.

On Wed, Aug 31, 2016 at 12:33 PM, Wesley-Lin notifications@github.com wrote:

Hi @hris2003 https://github.com/hris2003

After I run the backtrace command "bt", I guess that the root cause might be at /home/ubuntu/catkin_ws/src/ork/linemod/src/linemod_train.cpp:159

(gdb) bt

0

*Constructcv::Ptr<cv::linemod::Modality, cv::Ptrcv::linemod::Modality > (value=..., p=0x774b9008) at /usr/include/c++/4.8/bits/stl_construct.h:83 #1 https://github.com/wg-perception/object_recognition_core/issues/1 uninit_copy<__gnu_cxx::normal_iteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr >, cv::Ptrcv::linemod::Modality> (result=0x774b9008, last=..., first=...) at /usr/include/c++/4.8/bits/stl_uninitialized.h:75 #2 https://github.com/wg-perception/object_recognition_core/issues/2 uninitialized_copy<gnu_cxx::normal_iteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr >, cv::Ptrcv::linemod::Modality> (result=0x774b9008, last=..., __first=...) at /usr/include/c++/4.8/bits/stl_uninitialized.h:117 #3 https://github.com/wg-perception/object_recognition_core/issues/3 uninitialized_copy_a<gnu_cxx::__normal_iteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr >, cv::Ptrcv::linemod::Modality, cv::Ptrcv::linemod::Modality > (result=0x774b9008, last=, first=...) at /usr/include/c++/4.8/bits/stl_uninitialized.h:258 #4 https://github.com/wg-perception/object_recognition_core/issues/4 _M_allocate_and_copy<gnu_cxx::__normal_iteratorcv::Ptr<cv::linemod::Modality const, std::vectorcv::Ptr > > (this=0x38efdc, last=..., first=..., n=111971748) at /usr/include/c++/4.8/bits/stl_vector.h:1141 #5 https://github.com/wg-perception/object_recognition_core/issues/5 std::vectorcv::Ptr<cv::linemod::Modality, std::allocatorcv::Ptr >::operator= ( this=this@entry=0x38efdc, __x=std::vector of length 111971748, capacity 141151269 = {...}) at /usr/include/c++/4.8/bits/vector.tcc:188 #6 https://github.com/wg-perception/object_recognition_core/issues/6 0xb1e2d338 in operator= (this=0x38efdc) at /opt/ros/indigo/include/opencv-3.1.0-dev/opencv2/rgbd/linemod.hpp:321 #7 https://github.com/wg-perception/object_recognition_core/issues/7 ecto_linemod::Trainer::process (this=0x820480, inputs=..., outputs=...) at /home/ubuntu/catkin_ws/src/ork/linemod/src/linemod_train.cpp:159 #8 https://github.com/wg-perception/object_recognition_core/issues/8 0xb6530962 in ecto::cell::process_with_only_these_inputs(ecto::tendrils const&) () from /opt/ros/indigo/lib/libecto.so.0.6 #9 https://github.com/wg-perception/object_recognition_core/issues/9 0xb659d978 in ecto::graph::invoke_process(ecto::graph::graph_t&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6 #10 https://github.com/wg-perception/object_recognition_core/pull/10 0xb6598096 in ecto::scheduler::execute_iter(unsigned int, unsigned int, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6 #11 https://github.com/wg-perception/object_recognition_core/pull/11 0xb6599704 in boost::asio::detail::completion_handler, boost::_bi::list4boost::_bi::value<ecto::scheduler, boost::_bi::value, boost::_bi::value, boost::_bi::value > >

::do_complete(boost::asio::detail::task_io_service, boost::asio::detail::task_io_service_operation, boost::system::error_code const&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6 #12 https://github.com/wg-perception/object_recognition_core/issues/12 0xb659a0fc in boost::asio::detail::task_io_service::do_run_one(boost::asio::detail::scoped_lockboost::asio::detail::posix_mutex&, boost::asio::detail::task_io_service_thread_info&, boost::system::error_code const&) () from /opt/ros/indigo/lib/libecto.so.0.6 #13 https://github.com/wg-perception/object_recognition_core/issues/13 0xb659a5c6 in boost::asio::detail::task_io_service::run(boost::system::error_code&) () from /opt/ros/indigo/lib/libecto.so.0.6 #14 https://github.com/wg-perception/object_recognition_core/pull/14 0xb6598942 in ecto::scheduler::run() () from /opt/ros/indigo/lib/libecto.so.0.6 #15 https://github.com/wg-perception/object_recognition_core/issues/15 0xb65989ce in ecto::scheduler::execute(unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6 #16 https://github.com/wg-perception/object_recognition_core/pull/16 0xb3a58fd8 in ecto::cell_ecto::py::BlackBox::dispatch_process(ecto::tendrils const&, ecto::tendrils const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

17 https://github.com/wg-perception/object_recognition_core/issues/17

0xb6530962 in ecto::cell::process_with_only_these_inputs(ecto::tendrils const&) () from /opt/ros/indigo/lib/libecto.so.0.6

18 https://github.com/wg-perception/object_recognition_core/issues/18

0xb659d978 in ecto::graph::invoke_process(ecto::graph::graph_t&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

19 https://github.com/wg-perception/object_recognition_core/pull/19

0xb6598096 in ecto::scheduler::execute_iter(unsigned int, unsigned int, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

20 https://github.com/wg-perception/object_recognition_core/issues/20

0xb6599658 in boost::asio::detail::completion_handler, boost::_bi::list4boost::bi::value<ecto::scheduler, boost::_bi::value, boost::_bi::value, boost::_bi::value > > >::do_complete(boost::asio:: detail::task_ioservice, boost::asio::detail::task_io_serviceoperation, boost::system::error_code const&, unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

21 https://github.com/wg-perception/object_recognition_core/issues/21

0xb659a0fc in boost::asio::detail::task_io_service::do_run_one(boost:: asio::detail::scoped_lockboost::asio::detail::posix_mutex&, boost::asio::detail::task_io_service_thread_info&, boost::system::error_code const&) () from /opt/ros/indigo/lib/libecto. so.0.6

22 https://github.com/wg-perception/object_recognition_core/issues/22

0xb659a5c6 in boost::asio::detail::task_io_service::run(boost::system::error_code&) () from /opt/ros/indigo/lib/libecto.so.0.6

23 https://github.com/wg-perception/object_recognition_core/pull/23

0xb6598942 in ecto::scheduler::run() () from /opt/ros/indigo/lib/libecto. so.0.6

24 https://github.com/wg-perception/object_recognition_core/pull/24

0xb65989ce in ecto::scheduler::execute(unsigned int) () from /opt/ros/indigo/lib/libecto.so.0.6

25 https://github.com/wg-perception/object_recognition_core/pull/25

0xb3a6f00a in ecto::plasm_wrapper::plasm_execute(boost::shared_ptrecto::plasm, unsigned int) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

26 https://github.com/wg-perception/object_recognition_core/issues/26

0xb3a7227e in boost::python::objects::caller_py_function_impl, unsigned int), boost::python::default_call_policies, boost::mpl::vector3, unsigned int> > >::operator()(object, object) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

27 https://github.com/wg-perception/object_recognition_core/pull/27

0xb615c1e0 in boost::python::objects::function::call(object, object) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

28 https://github.com/wg-perception/object_recognition_core/pull/28

0xb615c34a in ?? () from /usr/lib/arm-linux-gnueabihf/ libboost_python-py27.so.1.54.0

29 https://github.com/wg-perception/object_recognition_core/pull/29

0xb61628f0 in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () ---Type to continue, or q to quit--- from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

30 https://github.com/wg-perception/object_recognition_core/issues/30

0xb3a6e3f8 in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

31 https://github.com/wg-perception/object_recognition_core/pull/31

0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

32 https://github.com/wg-perception/object_recognition_core/pull/32

0xb3a6e3cc in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

33 https://github.com/wg-perception/object_recognition_core/issues/33

0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

34 https://github.com/wg-perception/object_recognition_core/issues/34

0xb3a6e3a0 in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

35 https://github.com/wg-perception/object_recognition_core/issues/35

0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

36 https://github.com/wg-perception/object_recognition_core/issues/36

0xb3a6e374 in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

37 https://github.com/wg-perception/object_recognition_core/issues/37

0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

38 https://github.com/wg-perception/object_recognition_core/issues/38

0xb3a6e348 in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

39 https://github.com/wg-perception/object_recognition_core/issues/39

0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

40 https://github.com/wg-perception/object_recognition_core/issues/40

0xb3a6e31c in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

41 https://github.com/wg-perception/object_recognition_core/issues/41

0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

42 https://github.com/wg-perception/object_recognition_core/issues/42

0xb3a6e2f0 in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

43 https://github.com/wg-perception/object_recognition_core/issues/43

0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0 const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

44 https://github.com/wg-perception/object_recognition_core/issues/44

0xb3a6e2c4 in boost::detail::function::function_obj_invoker2, boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 to continue, or q to quit--- d> const&) () from /opt/ros/indigo/lib/python2.7/ dist-packages/ecto/ecto_main.so

45 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0

const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

46 0xb3a6e298 in boost::detail::function::function_obj_invoker2,

boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

47 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0

const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

48 0xb3a6e26c in boost::detail::function::function_obj_invoker2,

boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

49 0xb61628de in boost::python::detail::exception_handler::operator()(boost::function0

const&) const () from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

50 0xb3a6e240 in boost::detail::function::function_obj_invoker2,

boost::_bi::list3boost::arg<1, boost::arg<2>, boost::_bi::value > >, bool, boost::python::detail::exception_handler const&, boost::function0 const&>::invoke(boost::detail::function::function_buffer&, boost::python::detail::exception_handler const&, boost::function0 const&) () from /opt/ros/indigo/lib/python2.7/dist-packages/ecto/ecto_main.so

51 0xb6162778 in boost::python::handle_exception_impl(boost::function0)

() from /usr/lib/arm-linux-gnueabihf/libboost_python-py27.so.1.54.0

52 0xb615b488 in ?? () from /usr/lib/arm-linux-gnueabihf/

libboost_python-py27.so.1.54.0 Backtrace stopped: previous frame identical to this frame (corrupt stack?) (gdb)

Could you please give me some advise ? Thank you

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/wg-perception/object_recognition_core/issues/44#issuecomment-243724908, or mute the thread https://github.com/notifications/unsubscribe-auth/ACD8jvMkbXA9QnrCwCMyvZcQ_PKO1tHnks5qlViFgaJpZM4JxTvc .

[Wesley-Lin]

Can I ask another question ? Is there no ones use ORK on ARM platform ? I think it is obvious issue, but I don't see such issue in issue list. Thanks

[Wesley-Lin]

Hi @hris2003

I had solved the issue, but I encountered another issue. Now I can training at first, but it would stop during loading image, the error log is "NVMAP_IOC_FREE failed: Bad file descriptor". Then I run program in gdb, there is no useful information. Please give me some suggestions.

gdb --args python ./training -c rospack find object_recognition_linemod/conf/training.ork --visualize GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1 Copyright (C) 2014 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "arm-linux-gnueabihf". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from python...(no debugging symbols found)...done. (gdb) r Starting program: /usr/bin/python ./training -c /home/ubuntu/catkin_ws/src/ork/linemod/conf/training.ork --visualize [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/arm-linux-gnueabihf/libthread_db.so.1". [New Thread 0xb1e8c460 (LWP 6532)] Training 1 objects. computing object_id: 128237c882f7be7bc32ed45c8a000aec [New Thread 0xada6b460 (LWP 6535)] [Thread 0xada6b460 (LWP 6535) exited] Info, T0: Load /tmp/file1fF0Yz.stl Info, T0: Found a matching importer for this file format Info, T0: Import root directory is '/tmp/' Info, T0: Entering post processing pipeline Info, T0: Points: 0, Lines: 0, Triangles: 1, Polygons: 0 (Meshes, X = removed) Error, T0: FindInvalidDataProcess fails on mesh normals: Found zero-length vector Info, T0: FindInvalidDataProcess finished. Found issues ... Info, T0: GenVertexNormalsProcess finished. Vertex normals have been calculated Error, T0: Failed to compute tangents; need UV data in channel0 Info, T0: JoinVerticesProcess finished | Verts in: 1536 out: 258 | ~83.2% Info, T0: Cache relevant are 1 meshes (512 faces). Average output ACMR is 0.669922 Info, T0: Leaving post processing pipeline Loading im[New Thread 0xada6b460 (LWP 6538)] [Thread 0xada6b460 (LWP 6538) exited] Deleting the previous model 128237c882f7be7bc32ed45c8a00176e of object 128237c882f7be7bc32ed45c8a000aec [Thread 0xb1e8c460 (LWP 6532) exited] NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor NVMAP_IOC_FREE failed: Bad file descriptor Inferior 1 (process 6529) exited normally bt No stack. (gdb) l 1 events.c: No such file or directory. (gdb)