[ros-users] STOC & videre_stereo_cam segmentation fault

[Mike Skolarikis]

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

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