segfault when used as a library

[stereolabs]

segfault when used as a library

[Myzhar]

Hi @Hi-Zed
we noted the issue.
I will test it in the next few days to fix the problem.

[github-actions]

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days

[Myzhar]

Planned (to not close).

[ab3nd]

I'm doing literally the exact same thing (ROS1 wrapper for a non-CUDA system) and getting the exact same fault in the same place when I try to update the CameraInfo before posting the messages.

My code initially loads the camera calibration information, and saves it in two CameraInfo messages, l_info and r_info. Once it's in the capture loop, what it was trying to do was update the timestamps on l_info and r_info and then ship them. Why this crashes the sl_oc::sensors::SensorCapture::updateTimestampOffset function in a different thread is still obscure to me.

However, if you create a sensor_msgs::CameraInfoPtr to the camera info, update the stamps and frame_ids through that, and then publish the CameraInfoPtr, things appear to operate smoothly.

    while(ros::ok)
    {
        const sl_oc::video::Frame frame = cap.getLastFrame();
        if (frame.data != nullptr)
        {
            // Image is YUV 4:2:2, convert to rgb
            cv::Mat frameYUV = cv::Mat(frame.height, frame.width, CV_8UC2, frame.data);
            cv::Mat frameBGR;
            cv::cvtColor(frameYUV, frameBGR, cv::COLOR_YUV2BGR_YUYV);
            // Split into two images
            left_raw = frameBGR(cv::Rect(0, 0, frameBGR.cols / 2, frameBGR.rows));
            right_raw = frameBGR(cv::Rect(frameBGR.cols / 2, 0, frameBGR.cols / 2, frameBGR.rows));
            
            // Create ROS message and publish it
            sensor_msgs::ImagePtr l_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", left_raw).toImageMsg();
            sensor_msgs::ImagePtr r_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", right_raw).toImageMsg();
            
            ros::Time now = ros::Time::now();
            l_msg->header.stamp = now;
            r_msg->header.stamp = now;
            r_msg->header.frame_id = "zed_right";
            l_msg->header.frame_id = "zed_left";
            
            sensor_msgs::CameraInfoPtr l_info_ptr = boost::make_shared<sensor_msgs::CameraInfo>(l_info);
            sensor_msgs::CameraInfoPtr r_info_ptr = boost::make_shared<sensor_msgs::CameraInfo>(r_info);

            l_info_ptr->header.stamp = now;
            r_info_ptr->header.stamp = now;
            l_info_ptr->header.frame_id = "zed_left";
            r_info_ptr->header.frame_id = "zed_right";

            l_image_pub.publish(l_msg);
            l_info_pub.publish(l_info_ptr);
            r_image_pub.publish(r_msg);
            r_info_pub.publish(r_info);
        }
        ros::spinOnce();
    }

[Myzhar]

I suppose it's a udev rule issue.
The sensor module cannot access the sensors data and for some reason (to be verified) it crashes.
In the udev folder you can find the udev rules file and a script to install it

[github-actions]

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days