[Rock-dev] using FramePair structure to output two frames together
Alexander Duda
Alexander.Duda at dfki.de
Mon Jul 15 18:31:45 CEST 2013
On 07/15/2013 06:19 PM, Martin.Azkarate at esa.int wrote:
> Hello there,
>
> Thank you for your comments, the component is running *almost*
> properly now. Long story short, I was not allocating the memory for
> the FramePair structure correctly.
>
> The execution and the data in the output port is correct, however, I
> still have a problem when exiting the component. When the destructor
> Task class is called I get a pretty ugly error starting by:
>
> *** glibc detected *** /.../orogen_default__Task: free(): invalid pointer
>
> and followed by a backtrace and a memory map. I guess the error has to
> do with the fact that I am not de-allocating the memory properly. I
> tried doing so in the cleanupHook without success though. Here below
> is the code from the Task.cpp (only coded Hooks). How should I
> de-allocate the memory for the frame_pair structure?
>
> <code>
>
> bool Task::configureHook()
> {
> if (! TaskBase::configureHook())
> return false;
>
> index_frame=0;
>
> base::Time t;
> frame_pair.time = t.now(); //! frame_pair is defined in
> Task.hpp as a FramePair structure type.
> frame_pair.first.init(_width.value(),_height.value(),_channel_data_depth.value(),_output_format.value());
> frame_pair.second.init(_width.value(),_height.value(),_channel_data_depth.value(),_output_format.value());
> _frame_pair.id_ <http://frame_pair.id/> = 0;
> output_frame_pair.reset(&frame_pair);
>
> if (_undistort.value())
> {
> undistort_image = true;
> stereo_calibration = _calibration_parameters;
> }
>
> return true;
> }
>
> 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);
>
> FramePair* frame_pair_ptr=output_frame_pair.write_access();
>
> if (undistort_image)
> {
> frame_helper.setCalibrationParameter(stereo_calibration.camLeft);
> frame_helper.convert(*left, frame_pair_ptr->first, 0, 0,
> frame_helper::INTER_LINEAR, true);
> frame_helper.setCalibrationParameter(stereo_calibration.camRight);
> frame_helper.convert(*right, frame_pair_ptr->second, 0, 0,
> frame_helper::INTER_LINEAR ,true);
> }
> else
> {
> frame_helper.convert(*left, frame_pair_ptr->first, 0, 0,
> frame_helper::INTER_LINEAR, false);
> frame_helper.convert(*right, frame_pair_ptr->second, 0, 0,
> frame_helper::INTER_LINEAR, false);
> }
>
> frame_pair_ptr->id=index_frame++;
> frame_pair_ptr->time = input_frame->time;
> output_frame_pair.reset(frame_pair_ptr);
> _frame_out.write(output_frame_pair);
> }
> }
>
> void Task::cleanupHook()
> {
> TaskBase::cleanupHook();
> //// I tried deleting frame_pair and similar things here.../
> }
>
> </code>
>
> *Any ideas about what to put in the cleanupHook or class destructor to
> avoid the error at exit?*
This should not happen. Use valgrind to find invalid memory access or
multiple deletion of the same object.
Greets Alex
>
> Thanks again for your support,
>
> 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
>
>
>
> From: Javier Hidalgo Carrió <javier.hidalgo_carrio at dfki.de>
> To: Martin.Azkarate at esa.int
> Cc: rock-dev at dfki.de
> Date: 15/07/2013 09:39
> Subject: Re: [Rock-dev] using FramePair structure to output two
> frames together
> Sent by: rock-dev-bounces at dfki.de
>
> ------------------------------------------------------------------------
>
>
>
> 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_
> <mailto: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_ <mailto:Martin.Azkarate at esa.int> |
> _www.esa.int_
> Tel +31 71 565 3480 | Mob +31 650 625 564
>
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--
Dipl.-Ing. Alexander Duda
Unterwasserrobotik
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 178-456620
Fax: +49 (0)421 178-454150
E-Mail: alexander.duda at dfki.de
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