[Ros-kinect] Segmentation Fault on Linux

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[Ros-kinect] Segmentation Fault on Linux

Steven Nelson
After launching the openni_camera, openni_tracker, and rviz to watch the tf frames for the body tracking within a minute or two we see a segmentation fault in the method:

TorsoFitting::PrecomputeDepthMapSamplesForBendWithSegmentation

This appears to be in the nite module (version 1.3.0.17).  We are using Ubuntu 10.10 (64 bit) on an Intel Quad Core processor Q6600.   There have been reports of this problem for a few weeks over on the OpenNI mailing list in Google Groups but no solution.  Anybody experience the same or have any suggestions about a work around?

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Re: [Ros-kinect] Segmentation Fault on Linux

mehmet dogar
Did anyone find a solution to this yet?

We are also using openni_camera and openni_tracker and the openni_tracker crashes very frequently. We are using Ubuntu 10.04 64-bit and ros diamondback.

One comment on the OpenNI google-group was suggesting to use the newer (unstable) nite version 1.3.0.18, but we tried it and the problem did not go away.

Below is a gdb backtrace.
Here also is a core dump if you would like to load it in gdb:
http://www.pittsburgh.intel-research.net/~mdogar/core

Thanks,
-mehmet

gdb backtrace:

Program received signal SIGSEGV, Segmentation fault.
0x00007fffed541f64 in
TorsoFitting::PrecomputeDepthMapSamplesForBendWithSegmentation(MultiResDepthMapContainer
const&, UserInfo const&, Array2D<bool> const&, Box2D<int> const&,
Vector3D<double> const&, Frame3D<double> const&, int,
Array<TorsoFitting::DepthMapSample>&, BodySegmentation&,
FrameMotionModel&, bool, bool, bool, bool, double, bool) () from
/usr/lib/libXnVFeatures.so
(gdb) bt
#0  0x00007fffed541f64 in
TorsoFitting::PrecomputeDepthMapSamplesForBendWithSegmentation(MultiResDepthMapContainer
const&, UserInfo const&, Array2D<bool> const&, Box2D<int> const&,
Vector3D<double> const&, Frame3D<double> const&, int,
Array<TorsoFitting::DepthMapSample>&, BodySegmentation&,
FrameMotionModel&, bool, bool, bool, bool, double, bool) () from
/usr/lib/libXnVFeatures.so
#1  0x00007fffed48ad75 in FeatureExtractor::ComputeBestFitTorso(int,
double, int) () from /usr/lib/libXnVFeatures.so
#2  0x00007fffed4b0aa2 in FeatureExtractor::Run(int, double, int) ()
from /usr/lib/libXnVFeatures.so
#3  0x00007fffed4b1b41 in FeatureExtractor::Update(int, double, int)
() from /usr/lib/libXnVFeatures.so
#4  0x00007fffed4722be in
MultiUserFeatureExtractor::Update(xn::DepthGenerator const&,
xn::DepthMetaData const&, xn::SceneMetaData const&) () from
/usr/lib/libXnVFeatures.so
#5  0x00007fffed3ff80b in XnVSkeletonGenerator::UpdateUsers() () from
/usr/lib/libXnVFeatures.so
#6  0x00007fffed3ffc2e in XnVSkeletonGenerator::UpdateData() () from
/usr/lib/libXnVFeatures.so
#7  0x00007ffff7ba0d1a in xnUpdateDataImpl(XnInternalNodeData*) ()
from /usr/lib/libOpenNI.so
#8  0x00007ffff7ba11bf in xnUpdateTreeImpl(XnProductionNodesSet*,
XnNodeInfo const*) () from /usr/lib/libOpenNI.so
#9  0x00007ffff7ba1494 in xnWaitNoneUpdateAll () from /usr/lib/libOpenNI.so
#10 0x00000000004041ac in xn::Context::WaitAndUpdateAll (argc=1,
argv=<value optimized out>) at /usr/include/openni/XnCppWrapper.h:4435
#11 main (argc=1, argv=<value optimized out>) at
/homes/prdemo/openni_kinect/openni_kinect/openni_tracker/src/openni_tracker.cpp:177
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