Hi everyone,
I'm trying to make "videre_stereo_cam" package to work with a VIDERE
STOC camera 6cm baseline. The problem is that videre_stereo_node crashes
reporting a segmentation fault. I believe that something goes wrong when
frame deinterlacing takes place, but I'm not sure.
Using SVS software for Linux, I can access the camera and get disparity
image. Unfortunately, SVS is precompiled for 32bit architectures and
Videre does not provide support for this product any more. My operating
system is 64bit.
System Information:
1. videre_stereo_cam svn revision 1290
2. ROS Diamondback
3. Linux 2.6.32-29-generic #58-Ubuntu SMP Fri Feb 11 20:52:10 UTC
2011 x86_64 GNU/Linux (Lucid 10.04)
4. libdc1394-22 libdc1394-22-dev libdc1394-utils libraw1394-dev
libraw1394-11
When I first tried to compile videre_stereo_cam, compilation failed.
Output at -> compilation1.log
Then, I made some changes:
1. changed at stereoImage.cpp, line 258: cam_info.D.c_array() ->
cam_info.D.data()
2. changed at stereoImage.cpp, line 518: left_info.D.c_array() ->
left_info.D.data()
3. changed at stereoImage.cpp, line 532: right_info.D.c_array() ->
right_info.D.data()
4. added at stereoImage.cpp, line 225: cam_info.D =
std::vector<double>(5);
and compilation finished successfully.
Output at -> compilation2.log
I made some changes in videre.launch file, like setting videre_mode to
"diparity" and respawn to "false". I also added some "cout" in the code.
Output at -> error.log
Running the node with kdbg, found that the segmentation fault, occurs in
stereoDeinterlace2 method, in the last for loop.
I hope someone could help!
Michael Skolarikis
PANDORA Robotics Team
roslaunch videre_stereo_cam videre.launch
... logging to /home/pandora/.ros/log/726543d2-557b-11e0-8bbd-6c626d7fdf37/roslaunch-pandora-hardware-15060.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server
http://pandora-hardware:33597/
SUMMARY
========
PARAMETERS
* /rosdistro
* /stereo/videre_stereo_cam/fps
* /stereo/videre_stereo_cam/exposure_auto
* /stereo/videre_stereo_cam/frame_id
* /rosversion
* /stereo/videre_stereo_cam/gain_auto
* /stereo/videre_stereo_cam/brightness_auto
* /stereo/videre_stereo_cam/videre_mode
* /stereo/videre_stereo_cam/convert_to_color
NODES
/stereo/
videre_stereo_cam (videre_stereo_cam/videre_stereo_node)
auto-starting new master
process[master]: started with pid [15074]
ROS_MASTER_URI=
http://localhost:11311
setting /run_id to 726543d2-557b-11e0-8bbd-6c626d7fdf37
process[rosout-1]: started with pid [15087]
started core service [/rosout]
process[stereo/videre_stereo_cam-2]: started with pid [15090]
[ INFO] [1300904951.382398332]: Resetting bus
[ INFO] [1300904951.384887386]: Initializing camera, turning off ISO
[ INFO] [1300904951.446575186]: [dcam] Videre camera, getting local params
[ INFO] [1300904951.447000106]: [dcam] Camera firmware: 06.02
[ INFO] [1300904951.447611575]: [dcam] Imager firmware: 0006
[ INFO] [1300904951.447722601]: [Dcam] Found stereo device
[ INFO] [1300904951.448114471]: [dcam] STOC version: 04.02
procMode is 4
[ INFO] [1300904951.449268614]: [dcam] STOC thresholds: 00010c0a
[ INFO] [1300904951.746888628]: [dcam] Calibration, 1973 bytes
[ INFO] [1300904951.748603804]: [dcam] Color device
VidereStereoDriver::setRawType , Stereo camera is in PROC_MODE_DISPARITY mode!
VidereStereoDriver::setRawType , isStoc , VIDERE_STOC_RECT_DISP
[ INFO] [1300904951.749113752]: [dcam] Feature register hi: d2800000
[ INFO] [1300904951.749736725]: [dcam] Feature register lo: 00000000
[ INFO] [1300904951.753768763]: [Dcam] Exposure min/max: [0,529]
[ INFO] [1300904951.757776740]: [Dcam] Gain min/max: [0,48]
[ INFO] [1300904951.761810039]: [Dcam] Brightness min/max: [0,255]
[ INFO] [1300904951.764106769]: [Dcam] Whitebalance min/max: [0,30]
[extractParams] Parameters:
[dcam] SVS-type parameters
[dcam] Disparity resolution: 1/16 pixel
[dcam] Correlation window: 15
[dcam] Prefilter window: 9
[dcam] Number of disparities: 64
[dcam] left camera matrix (K)
422.1117 0.0000 319.4246
0.0000 425.1450 260.2131
0.0000 0.0000 1.0000
[dcam] left distortion vector (D)
-0.3299 0.1109 0.0000 0.0000 0.0000
[dcam] left rectification matrix (R)
0.9999 0.0088 -0.0072
-0.0088 1.0000 -0.0014
0.0072 0.0015 1.0000
[dcam] left projection matrix (P)
425.0000 0.0000 323.1876 0.0000
0.0000 425.0000 243.5984 0.0000
0.0000 0.0000 1.0000 0.0000
[dcam] right camera matrix (K)
413.6503 0.0000 327.6238
0.0000 416.6324 226.3288
0.0000 0.0000 1.0000
[dcam] right distortion vector (D)
-0.3362 0.1210 0.0000 0.0000 0.0000
[dcam] right rectification matrix (R)
1.0000 0.0067 -0.0047
-0.0067 1.0000 0.0014
0.0047 -0.0014 1.0000
[dcam] right projection matrix (P)
425.0000 0.0000 323.1876 -25.5966
0.0000 425.0000 243.5984 0.0000
0.0000 0.0000 1.0000 0.0000
[dcam] Has rectification
[dcam] External translation vector
-0.0602 -0.0004 0.0003
[dcam] External rotation vector
0.0028 -0.0025 -0.0022
[ INFO] [1300904952.043839488]: Connecting to camera with GUID 23930887758950775 [VIDERE_DESIGN MDS-STH]
[ INFO] [1300904952.044058224]: Connected camera is a STOC device
VidereStereoDriver::setRawType , Stereo camera is in PROC_MODE_DISPARITY mode!
VidereStereoDriver::setRawType , isStoc , VIDERE_STOC_RECT_DISP
[ INFO] [1300904952.369705399]: Camera reconfigure request received, level 0xffffffff
[ INFO] [1300904952.372257414]: Setting mode to disparity
[ INFO] [1300904952.372358964]: Color conversion from Bayer pattern is Enabled
setProcMode to 4
VidereStereoDriver::setRawType , Stereo camera is in PROC_MODE_DISPARITY mode!
VidereStereoDriver::setRawType , isStoc , VIDERE_STOC_RECT_DISP
[ INFO] [1300904952.926187210]: Stereo camera's frame ID is /stereo_optical_frame
[ INFO] [1300904952.926324933]: Setting Exposure to Auto setting
[ INFO] [1300904952.926408416]: Setting Gain to Auto setting
[ INFO] [1300904952.926487878]: Setting Brightness to Auto setting
[ INFO] [1300904952.926585922]: Setting Whitebalance to Auto setting
[ INFO] [1300904952.926687317]: Companding mode is Enabled
[ INFO] [1300904952.926789981]: High Dynamic Range mode is Disabled
[ INFO] [1300904953.077378989]: STOC: uniqueness threshold is set to 36
[ INFO] [1300904953.077588429]: STOC: texture threshold is set to 30
[ INFO] [1300904953.077673118]: STOC: speckle size is set to 100
[ INFO] [1300904953.077751131]: STOC: speckle range is set to 10
[ INFO] [1300904953.077829163]: STOC: horopter is set to 0
[ INFO] [1300904953.077911825]: -------------------------------------------
[ INFO] [1300904953.429432413]: Streaming...
VidereStereoDriver::getImage : camFrame size is 640 x 480
VidereStereoDriver::getImage : inside isVidereStereo
case VIDERE_STOC_RECT_DISP
VidereStereoDriver::stereoDeinterlace2
color coding is 353
color filter is 0
data depth is 8
video mode is 66
image bytes are 460800
stride is 960
total_bytes are 460800
image_bytes are 460800
padding_bytes is 0
yuv byte order 800
timestamp : 1300913179427341
id is 7
memory alloc : 3330165771444695856
width is 640 height is 480
imDtop is 11
imDleft is 74
imDwidth is 555
imDheight is 456
System segfaulted, stopping camera nicely
[stereo/videre_stereo_cam-2] process has died [pid 15090, exit code -11].
log files: /home/pandora/.ros/log/726543d2-557b-11e0-8bbd-6c626d7fdf37/stereo-videre_stereo_cam-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
pandora@pandora-hardware:~/pandorasvn/ros/videre_stereo_cam$ rosmake
[ rosmake ] No package specified. Building ['videre_stereo_cam']
[ rosmake ] Packages requested are: ['videre_stereo_cam']
[ rosmake ] Logging to directory/home/pandora/.ros/rosmake/rosmake_output-20110323-195141
[ rosmake ] Expanded args ['videre_stereo_cam'] to:
['videre_stereo_cam']
[ rosmake ] Checking rosdeps compliance for packages videre_stereo_cam. This may take a few seconds.
Failed to find rosdep libdc1394-dev for package videre_stereo_cam on OS:ubuntu version:10.04
WARNING: Rosdeps [u'libdc1394-dev'] could not be resolved
[ rosmake ] rosdep check passed all system dependencies in packages
[rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
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[rosmake-3] Starting >>> videre_stereo_cam [ make ]
[ rosmake ] Output from build of package videre_stereo_cam written to:
[ 1 Active 55/56 Complete ]
[ rosmake ] /home/pandora/.ros/rosmake/rosmake_output-20110323-195141/videre_stereo_cam/build_output.log
[rosmake-3] Finished <<< videre_stereo_cam [PASS] [ 13.50 seconds ] -- WARNING: 2 compiler warnings
[ rosmake ] Results:
[ rosmake ] Built 56 packages with 0 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/pandora/.ros/rosmake/rosmake_output-20110323-195141
[ rosmake ] No package specified. Building ['videre_stereo_cam']
[ rosmake ] Packages requested are: ['videre_stereo_cam']
[ rosmake ] Logging to directory/home/pandora/.ros/rosmake/rosmake_output-20110323-193106
[ rosmake ] Expanded args ['videre_stereo_cam'] to:
['videre_stereo_cam']
[ rosmake ] Checking rosdeps compliance for packages videre_stereo_cam. This may take a few seconds.
Failed to find rosdep libdc1394-dev for package videre_stereo_cam on OS:ubuntu version:10.04
WARNING: Rosdeps [u'libdc1394-dev'] could not be resolved
[ rosmake ] rosdep check passed all system dependencies in packages
[rosmake-0] Starting >>> rosbuild [ make ]
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[rosmake-3] Starting >>> rosnode [ make ]
[rosmake-2] Starting >>> geometry_msgs [ make ]
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[rosmake-1] Starting >>> rosservice [ make ]
[rosmake-0] Starting >>> diagnostic_updater [ make ]
[rosmake-2] Starting >>> sensor_msgs [ make ]
[rosmake-1] Finished <<< rosservice ROS_NOBUILD in package rosservice
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[rosmake-1] Starting >>> dynamic_reconfigure [ make ]
[rosmake-0] Finished <<< diagnostic_updater ROS_NOBUILD in package diagnostic_updater
[rosmake-2] Starting >>> cv_bridge [ make ]
[rosmake-0] Starting >>> camera_calibration_parsers [ make ]
[rosmake-3] Starting >>> image_geometry [ make ]
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[rosmake-1] Starting >>> image_transport [ make ]
[rosmake-2] Starting >>> stereo_msgs [ make ]
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[rosmake-0] Starting >>> self_test [ make ]
[rosmake-3] Starting >>> roswtf [ make ]
[rosmake-1] Finished <<< image_transport ROS_NOBUILD in package image_transport
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[rosmake-1] Starting >>> image_proc [ make ]
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[rosmake-0] Starting >>> driver_base [ make ]
[rosmake-3] Starting >>> tf [ make ]
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[rosmake-1] Starting >>> stereo_image_proc [ make ]
[rosmake-1] Finished <<< stereo_image_proc ROS_NOBUILD in package stereo_image_proc
[rosmake-1] Starting >>> videre_stereo_cam [ make ]
[ rosmake ] Last 40 linesdere_stereo_cam: 13.8 sec ]
[ 1 Active 55/56 Complete ]
{-------------------------------------------------------------------------------
[ 20%] Built target rospack_gencfg
make[3]: Entering directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
Scanning dependencies of target rospack_genmsg_libexe
make[3]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
[ 20%] Built target rospack_genmsg_libexe
make[3]: Entering directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
Scanning dependencies of target rosbuild_precompile
make[3]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
[ 20%] Built target rosbuild_precompile
make[3]: Entering directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
Scanning dependencies of target disparity_view
make[3]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
make[3]: Entering directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
[ 40%] Building CXX object CMakeFiles/disparity_view.dir/src/disparity_view.o
Linking CXX executable ../bin/disparity_view
make[3]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
[ 40%] Built target disparity_view
make[3]: Entering directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
Scanning dependencies of target rospack_gencfg_real
make[3]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
[ 40%] Built target rospack_gencfg_real
make[3]: Entering directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
Scanning dependencies of target videre_stereo_node
make[3]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
make[3]: Entering directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
[ 60%] Building CXX object CMakeFiles/videre_stereo_node.dir/src/videre_stereo_cam/stereoimage.o
/home/pandora/pandorasvn/ros/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp: In member function ‘void StereoData::parseCalibrationOST(std::string, stereo_side_t, sensor_msgs::CameraInfo&)’:
/home/pandora/pandorasvn/ros/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:257: error: ‘class std::vector<double, std::allocator<double> >’ has no member named ‘c_array’
/home/pandora/pandorasvn/ros/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp: In member function ‘char* StereoData::createParams(bool)’:
/home/pandora/pandorasvn/ros/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:517: error: ‘class std::vector<double, std::allocator<double> >’ has no member named ‘c_array’
/home/pandora/pandorasvn/ros/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:531: error: ‘class std::vector<double, std::allocator<double> >’ has no member named ‘c_array’
/home/pandora/pandorasvn/ros/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp: At global scope:
/home/pandora/pandorasvn/ros/videre_stereo_cam/src/videre_stereo_cam/stereoimage.cpp:461: warning: ‘void PrintMat(double*, int, int)’ defined but not used
make[3]: *** [CMakeFiles/videre_stereo_node.dir/src/videre_stereo_cam/stereoimage.o] Error 1
make[3]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
make[2]: *** [CMakeFiles/videre_stereo_node.dir/all] Error 2
make[2]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/pandora/pandorasvn/ros/videre_stereo_cam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package videre_stereo_cam written to:
[ rosmake ] /home/pandora/.ros/rosmake/rosmake_output-20110323-193106/videre_stereo_cam/build_output.log
[rosmake-1] Finished <<< videre_stereo_cam [FAIL] [ 13.85 second
[ rosmake ] Halting due to failure in package videre_stereo_cam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 56 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/pandora/.ros/rosmake/rosmake_output-20110323-193106
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