[Rock-dev] using FramePair structure to output two frames together

[Javier Hidalgo Carrió]

Hello Martin,

Since you have a segmentation fault (Signal 11). Did you debug the code 
with gdb looking to the backtrace?
Here it is explained how to do it:

http://rock.opendfki.de/wiki/WikiStart/Troubleshooting/DebuggingTechniques


Nevertheless,:

         FramePair* frame_pair;
         frame_pair->time=input_frame->time;

To which object is frame_pair pointing to?

Regards,

Javier.

On 07/12/2013 05:14 PM, Martin.Azkarate at esa.int wrote:
> Hello,
>
> I have the following code that works fine to separate two interlaced 
> images that arrive in a single port and separates them into two frames 
> that are sent out in two different ports:
>
> void Task::updateHook()
> {
>     TaskBase::updateHook();
>
>     if (_frame_in.read(input_frame)==RTT::NewData)
>     {
>     Frame* left = new Frame(input_frame->size.width, 
> input_frame->size.height, 8, input_frame->frame_mode);
>     Frame* right = new Frame(input_frame->size.width, 
> input_frame->size.height, 8, input_frame->frame_mode);
>     deInterlace(*input_frame,*left,*right);
>     Frame*  left_gray = new Frame(left->size.width, left->size.height, 
> 8, MODE_GRAYSCALE);
>     Frame*  right_gray = new Frame(right->size.width, 
> right->size.height, 8, MODE_GRAYSCALE);
>     frame_helper.convertColor(*left,*left_gray);
>     frame_helper.convertColor(*right,*right_gray);
>     frame_left.reset(left_gray);
>     frame_right.reset(right_gray);
>     _frame_left.write(frame_left);
>     _frame_right.write(frame_right);
>     }
> }
>
> void Task::deInterlace(const base::samples::frame::Frame &input, 
> base::samples::frame::Frame &left, base::samples::frame::Frame &right)
> {
>     //! Note: input frame has a data depth of 16bits while the left 
> and right have a data depth of 8 bits. Bytes in the input frame are 
> mixed in order, one byte from the left, one byte from the right, and 
> so on.
>     //! So in "one pixel" of 16bits of the input frame there are "two 
> pixels" of 8bits one of each left and right frames.
>     uint32_t width=(input.size.width*2);
>     uint32_t height=input.size.height;
>
>     int i = (width*height)-1;
>     int j = ((width*height)>>1)-1;
>
>     while (i >= 0) {
>         right.image[j] = input.image[i--];
>         left.image[j--] = input.image[i--];
>     }
>
>     left.copyImageIndependantAttributes(input);
>     right.copyImageIndependantAttributes(input);
>
> }
>
> input_frame, frame_left and frame_right are ReadOnlyPointers of type 
> Frame defined in Task.hpp. Rest of the Hooks are empty/default.
> _
> Question_: Even thought this does the work for me, I would like to 
> know if this is a correct way of doing it. Mostly regarding the 
> creation of several Frame pointers and allocation of memory for those 
> in the middle of the updateHook? (This is actually important because 
> it is related to the question below)
>
> Now, I would like to send out both images left and right in a single 
> port using the structure FramePair, to make sure that they arrive 
> together to the stereo processing component with a single timestamp 
> for both (as they were both taken at the same time by a stereo 
> camera). However, I have tried to replicate the same logic using the 
> FramePair structure and always got errors in execution (compilation is 
> ok).
>
> Changing the last part of the updateHook to the following:
>
> void Task::updateHook()
> {
>     TaskBase::updateHook();
>
>     if (_frame_in.read(input_frame)==RTT::NewData)
>     {
>     Frame* left = new Frame(input_frame->size.width, 
> input_frame->size.height, 8, input_frame->frame_mode);
>     Frame* right = new Frame(input_frame->size.width, 
> input_frame->size.height, 8, input_frame->frame_mode);
>     deInterlace(*input_frame,*left,*right);
>     Frame*  left_gray = new Frame(left->size.width, left->size.height, 
> 8, MODE_GRAYSCALE);
>     Frame*  right_gray = new Frame(right->size.width, 
> right->size.height, 8, MODE_GRAYSCALE);
>     frame_helper.convertColor(*left,*left_gray);
>     frame_helper.convertColor(*right,*right_gray);
>     FramePair* frame_pair;
>     frame_pair->id=index_frame++;  //! index_frame is defined in 
> Task.hpp and initialized to 0 in configureHook.
>     frame_pair->time = input_frame->time;
>     frame_pair->first = *left_gray;
>     frame_pair->second = *right_gray;
>     output_frame_pair.reset(frame_pair); //! output_frame_pair is also 
> a ReadOnlyPointer in Task.hpp
>     _frame_out.write(output_frame_pair);
>     }
> }
>
> gives me the following error when I run it: Orocos[WARN]: deployment 
> /[myTaskContext]/ unexpectedly terminated with signal 11
>
> After trying several ways of assigning the frames's data to the 
> frame_pair structure without success I understood I was not using 
> FramePair the right way. So I tried something very simple as:
>
> void Task::updateHook()
> {
>     TaskBase::updateHook();
>
>     if (_frame_in.read(input_frame)==RTT::NewData)
>     {
>         FramePair* frame_pair;
>         frame_pair->time=input_frame->time;
>         frame_pair->id=index_frame++;
>         frame_pair->first.init(1024,768,8,MODE_GRAYSCALE);
>         frame_pair->second.init(1024,768,8,MODE_GRAYSCALE);
>         output_frame_pair.reset(frame_pair);
>         _frame_out.write(output_frame_pair);
>     }
> }
>
> And it gives the same error as above and actually the execution stops 
> before the end of the updateHook at the line where the first.init() 
> function is called.
>
> I make it even simpler:
>
> void Task::updateHook()
> {
>     TaskBase::updateHook();
>
>     if (_frame_in.read(input_frame)==RTT::NewData)
>     {
>         FramePair* frame_pair;
>         frame_pair->time=input_frame->time;
>         frame_pair->id=index_frame++;
>         output_frame_pair.reset(frame_pair);
>         _frame_out.write(output_frame_pair);
>     }
> }
>
> I get the same error when exiting the updateHook.
> _
> Question:_ What is it that I am missing about FramePair structure that 
> makes it so different to the Frame structure when it comes to memory 
> allocation? Somebody can put some light in this?
>
> Thank you very much for your attention,
>
> Martin
>
> Martin Azkarate
>
> *ESA - European Space Agency*
> Spanish Trainee, TEC-MMA - Automation and Robotics Section
>
> *ESTEC - European Space research and TEchnology Centre*
> Keplerlaan 1, PO Box 299
> NL-2200 AG Noordwijk, The Netherlands
> Martin.Azkarate at esa.int | www.esa.int
> Tel +31 71 565 3480 | Mob +31 650 625 564
>
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