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<div class="moz-cite-prefix">Hello Martin,<br>
<br>
Since you have a segmentation fault (Signal 11). Did you debug the
code with gdb looking to the backtrace?<br>
Here it is explained how to do it:<br>
<br>
<meta http-equiv="content-type" content="text/html;
charset=ISO-8859-1">
<a
href="http://rock.opendfki.de/wiki/WikiStart/Troubleshooting/DebuggingTechniques">http://rock.opendfki.de/wiki/WikiStart/Troubleshooting/DebuggingTechniques</a><br>
<br>
<br>
<font size="3"><font size="3"><font size="3">Ne<font size="3">vert<font
size="3">heless,<font size="3">:<br>
<br>
</font></font></font></font></font> FramePair*
frame_pair;<br>
frame_pair->time=input_frame->time;<br>
<br>
<font size="3"><font size="3"><font size="3"></font></font><font
size="3"><font size="3"><font size="3">To which object is
frame_pair pointing to<font size="3">?</font></font></font></font></font><br>
</font><br>
Regards, <br>
<br>
Javier.<br>
<br>
On 07/12/2013 05:14 PM, <a class="moz-txt-link-abbreviated" href="mailto:Martin.Azkarate@esa.int">Martin.Azkarate@esa.int</a> wrote:<br>
</div>
<blockquote
cite="mid:3093_1373642069_51E01D55_3093_12976_1_OF7C47FE7C.A4A3BAF6-ONC1257BA6.00525BFE-C1257BA6.0053BB4D@esa.int"
type="cite"><font size="3">Hello,<br>
<br>
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:<br>
<br>
void Task::updateHook()<br>
{<br>
TaskBase::updateHook();<br>
<br>
if (_frame_in.read(input_frame)==RTT::NewData)<br>
{<br>
Frame* left = new Frame(input_frame->size.width,
input_frame->size.height, 8, input_frame->frame_mode);<br>
Frame* right = new Frame(input_frame->size.width,
input_frame->size.height, 8, input_frame->frame_mode);<br>
deInterlace(*input_frame,*left,*right);<br>
Frame* left_gray = new Frame(left->size.width,
left->size.height, 8, MODE_GRAYSCALE);<br>
Frame* right_gray = new Frame(right->size.width,
right->size.height, 8, MODE_GRAYSCALE);<br>
frame_helper.convertColor(*left,*left_gray);<br>
frame_helper.convertColor(*right,*right_gray);<br>
frame_left.reset(left_gray);<br>
frame_right.reset(right_gray);<br>
_frame_left.write(frame_left);<br>
_frame_right.write(frame_right);<br>
}<br>
}<br>
<br>
void Task::deInterlace(const base::samples::frame::Frame
&input, base::samples::frame::Frame
&left, base::samples::frame::Frame &right)<br>
{</font>
<br>
<font size="3"> //! 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.</font>
<br>
<font size="3"> //! So in "one pixel" of 16bits
of the input frame there are "two pixels" of 8bits one of each
left and right frames.<br>
uint32_t width=(input.size.width*2);<br>
uint32_t height=input.size.height;<br>
<br>
int i = (width*height)-1;<br>
int j = ((width*height)>>1)-1;<br>
<br>
while (i >= 0) {<br>
right.image[j] = input.image[i--];<br>
left.image[j--] = input.image[i--];<br>
}<br>
<br>
left.copyImageIndependantAttributes(input);<br>
right.copyImageIndependantAttributes(input);<br>
<br>
}<br>
<br>
input_frame, frame_left and frame_right are ReadOnlyPointers of
type Frame
defined in Task.hpp. Rest of the Hooks are empty/default.<br>
<u><br>
Question</u>: 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)<br>
<br>
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).<br>
<br>
Changing the last part of the updateHook to the following:<br>
<br>
void Task::updateHook()<br>
{<br>
TaskBase::updateHook();<br>
<br>
if (_frame_in.read(input_frame)==RTT::NewData)<br>
{<br>
Frame* left = new Frame(input_frame->size.width,
input_frame->size.height, 8, input_frame->frame_mode);<br>
Frame* right = new Frame(input_frame->size.width,
input_frame->size.height, 8, input_frame->frame_mode);<br>
deInterlace(*input_frame,*left,*right);<br>
Frame* left_gray = new Frame(left->size.width,
left->size.height, 8, MODE_GRAYSCALE);<br>
Frame* right_gray = new Frame(right->size.width,
right->size.height, 8, MODE_GRAYSCALE);<br>
frame_helper.convertColor(*left,*left_gray);<br>
frame_helper.convertColor(*right,*right_gray);<br>
FramePair* frame_pair;<br>
frame_pair->id=index_frame++; //! index_frame
is defined in Task.hpp and initialized to 0 in configureHook.<br>
frame_pair->time = input_frame->time;<br>
frame_pair->first = *left_gray;<br>
frame_pair->second = *right_gray;<br>
output_frame_pair.reset(frame_pair); //! output_frame_pair
is also a ReadOnlyPointer in Task.hpp<br>
_frame_out.write(output_frame_pair);<br>
}<br>
}<br>
<br>
gives me the following error when I run it: Orocos[WARN]:
deployment <i>[myTaskContext]</i>
unexpectedly terminated with signal 11<br>
<br>
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:<br>
<br>
void Task::updateHook()<br>
{<br>
TaskBase::updateHook(); <br>
<br>
if (_frame_in.read(input_frame)==RTT::NewData)<br>
{<br>
FramePair* frame_pair;<br>
frame_pair->time=input_frame->time;<br>
frame_pair->id=index_frame++;<br>
frame_pair->first.init(1024,768,8,MODE_GRAYSCALE);<br>
frame_pair->second.init(1024,768,8,MODE_GRAYSCALE);<br>
output_frame_pair.reset(frame_pair);<br>
_frame_out.write(output_frame_pair);<br>
}<br>
}<br>
<br>
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.<br>
<br>
I make it even simpler:<br>
<br>
void Task::updateHook()<br>
{<br>
TaskBase::updateHook(); <br>
<br>
if (_frame_in.read(input_frame)==RTT::NewData)<br>
{<br>
FramePair* frame_pair;<br>
frame_pair->time=input_frame->time;<br>
frame_pair->id=index_frame++;<br>
output_frame_pair.reset(frame_pair);<br>
_frame_out.write(output_frame_pair);<br>
}<br>
}<br>
<br>
I get the same error when exiting the updateHook.<br>
<u><br>
Question:</u> 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?<br>
<br>
Thank you very much for your attention,<br>
<br>
Martin</font><font size="2" face="sans-serif"><br>
</font><font size="3"><br>
</font>
<p><font size="2" color="#001fe2" face="Verdana">Martin Azkarate</font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESA - European
Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESTEC -
European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands <br>
<a class="moz-txt-link-abbreviated" href="mailto:Martin.Azkarate@esa.int">Martin.Azkarate@esa.int</a> | </font><a moz-do-not-send="true"
href="www.esa.int"><font size="1" color="#8f8f8f"
face="Verdana">www.esa.int</font></a><font size="1"
color="#8f8f8f" face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font></p>
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