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<div class="moz-cite-prefix">On 07/15/2013 06:19 PM,
<a class="moz-txt-link-abbreviated" href="mailto:Martin.Azkarate@esa.int">Martin.Azkarate@esa.int</a> wrote:<br>
</div>
<blockquote
cite="mid:18845_1373905164_51E4210C_18845_4982_1_OFC46D8048.2225DFCF-ONC1257BA9.0055BF78-C1257BA9.0059ACCC@esa.int"
type="cite">
<meta http-equiv="Context-Type" content="text/html;
charset=ISO-8859-1">
Hello there,
<br>
<br>
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.
<br>
<br>
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:
<br>
<br>
*** glibc detected *** /.../orogen_default__Task:
free(): invalid pointer
<br>
<br>
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?
<br>
<br>
<code>
<br>
<br>
bool Task::configureHook()<br>
{<br>
if (! TaskBase::configureHook())<br>
return false;<br>
<br>
index_frame=0;<br>
<br>
base::Time t;<br>
frame_pair.time = t.now();
//! frame_pair is defined in Task.hpp
as a FramePair structure type.<br>
frame_pair.first.init(_width.value(),_height.value(),_channel_data_depth.value(),_output_format.value());<br>
frame_pair.second.init(_width.value(),_height.value(),_channel_data_depth.value(),_output_format.value());<br>
<a moz-do-not-send="true" href="http://frame_pair.id/"><u>frame_pair.id</u></a>
= 0;<br>
output_frame_pair.reset(&frame_pair);<br>
<br>
if (_undistort.value())<br>
{<br>
undistort_image = true;<br>
stereo_calibration = _calibration_parameters;<br>
}
<br>
<br>
return true;<br>
}<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>
<br>
FramePair*
frame_pair_ptr=output_frame_pair.write_access();<br>
<br>
if (undistort_image)<br>
{<br>
frame_helper.setCalibrationParameter(stereo_calibration.camLeft);<br>
frame_helper.convert(*left,
frame_pair_ptr->first, 0, 0, frame_helper::INTER_LINEAR, true);<br>
frame_helper.setCalibrationParameter(stereo_calibration.camRight);<br>
frame_helper.convert(*right,
frame_pair_ptr->second, 0, 0, frame_helper::INTER_LINEAR
,true);<br>
}<br>
else<br>
{<br>
frame_helper.convert(*left,
frame_pair_ptr->first, 0, 0, frame_helper::INTER_LINEAR,
false);<br>
frame_helper.convert(*right,
frame_pair_ptr->second, 0, 0, frame_helper::INTER_LINEAR,
false);<br>
}
<br>
<br>
frame_pair_ptr->id=index_frame++;<br>
frame_pair_ptr->time = input_frame->time;<br>
output_frame_pair.reset(frame_pair_ptr);<br>
_frame_out.write(output_frame_pair);<br>
}<br>
}<br>
<br>
void Task::cleanupHook()<br>
{<br>
TaskBase::cleanupHook();
<br>
<i>/// I tried deleting frame_pair and similar
things here...</i><br>
}
<br>
<br>
</code>
<br>
<br>
<b>Any ideas about what to put in the
cleanupHook or class destructor to avoid the error at exit?</b>
<br>
</blockquote>
This should not happen. Use valgrind to find invalid memory access
or multiple deletion of the same object.<br>
<br>
Greets Alex<br>
<br>
<br>
<blockquote
cite="mid:18845_1373905164_51E4210C_18845_4982_1_OFC46D8048.2225DFCF-ONC1257BA9.0055BF78-C1257BA9.0059ACCC@esa.int"
type="cite">
<br>
Thanks again for your support,<br>
<p>Martin Azkarate
</p>
<p><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </p>
<p><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> | <a moz-do-not-send="true">www.esa.int</a>
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 <br>
<br>
<br>
<br>
From:
Javier Hidalgo Carrió
<a class="moz-txt-link-rfc2396E" href="mailto:javier.hidalgo_carrio@dfki.de"><javier.hidalgo_carrio@dfki.de></a>
<br>
To:
<a class="moz-txt-link-abbreviated" href="mailto:Martin.Azkarate@esa.int">Martin.Azkarate@esa.int</a>
<br>
Cc:
<a class="moz-txt-link-abbreviated" href="mailto:rock-dev@dfki.de">rock-dev@dfki.de</a>
<br>
Date:
15/07/2013 09:39
<br>
Subject:
Re: [Rock-dev]
using FramePair structure to output two frames together
<br>
Sent by:
<a class="moz-txt-link-abbreviated" href="mailto:rock-dev-bounces@dfki.de">rock-dev-bounces@dfki.de</a>
<br>
</p>
<hr>
<br>
<br>
<br>
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>
<u><br>
</u><a moz-do-not-send="true"
href="http://rock.opendfki.de/wiki/WikiStart/Troubleshooting/DebuggingTechniques"><u>http://rock.opendfki.de/wiki/WikiStart/Troubleshooting/DebuggingTechniques</u></a><br>
<br>
<br>
Nevertheless,:<br>
<br>
FramePair* frame_pair;<br>
frame_pair->time=input_frame->time;<br>
<br>
To which object is frame_pair pointing to?<br>
<br>
Regards, <br>
<br>
Javier.<br>
<br>
On 07/12/2013 05:14 PM, <a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><u>Martin.Azkarate@esa.int</u></a>
wrote:
<br>
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>
{ <br>
//! 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. <br>
//! 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.<u><br>
<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.<u><br>
<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<br>
<p>Martin Azkarate
</p>
<p><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </p>
<p><b>ESTEC - European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands <u><br>
</u><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><u>Martin.Azkarate@esa.int</u></a>
| <a moz-do-not-send="true"><u>www.esa.int</u></a>
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </p>
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<br>
<br>
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