Segmentation Fault When Extracting Frames #885
Comments
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All four cameras are run in separate Python3.6 interpreter sessions/processes. |
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Whenever this error happens, it shows owner is a NULL pointer. (gdb) p owner I also have a backtrace which starts from the v4l2 backend: #0 0x00007fffccdc99f1 in librealsense::frame::release (this=0xffa680) at /home/arb/librealsense/src/archive.cpp:273 |
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Hi @marvin-hao , Which version are you using? |
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In master branch. The most recent log from my local git repo is: commit 5fb58db |
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I added NULL pointer checking for the member variable owner of realsense::frame in src/archive.cpp: void frame::release() and src/source.cpp: void frame_source::invoke_callback(frame_holder frame) const. It works well so far, but I'm not sure if this will cause potential memory leak or further hidden bugs. |
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Can you please share a code snippet / sample that reproduces this issue so we can try it? |
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Sorry, most of the confidential code interleaves within the camera control code, but I can share the control flow.
try {
self->pipe = rs2::pipeline();
if (!setup_streams(self))
return NULL;
self->pipe_profile = self->pipe.start(self->conf);
if (!setup_intrinsics(self))
return NULL;
self->dev = self->pipe_profile.get_device();
std::vector<rs2::sensor> sensors = self->dev.query_sensors();
// For SR300
if (sensors.size() != 2) {
PyErr_SetString(PyExc_RuntimeError, "...");
return NULL;
}
if (self->depth_sensor = sensors[0].as<rs2::depth_sensor>()){
self->depth_scale = self->depth_sensor.get_depth_scale();
} else {
PyErr_SetString(PyExc_RuntimeError, "...");
return NULL;
}
// RGB Camera
if (self -> roi_sensor = sensors[1].as<rs2::roi_sensor>()){}
else {
PyErr_SetString(PyExc_RuntimeError, "...");
return NULL;
}
} catch (rs2::error e) {
PyErr_SetString(PyExc_RuntimeError, e.what());
}
In an infinite loop: for (uint i = 0; i < maxFrames; ++i){
rs2::frameset frameset = pipe.wait_for_frames();
try {
auto color_frame = frameset.get_color_frame();
auto depth_frame = frameset.get_depth_frame();
auto ir_frame = frameset.first_or_default(RS2_STREAM_INFRARED);
// If come across bad frames, decrease the counter by 1 and continue.
if (
!ir_frame || ir_frame.get_data() == NULL ||
!color_frame || color_frame.get_data() == NULL ||
!depth_frame || depth_frame.get_data() == NULL) {
--i;
continue;
}
CompFrame memData = {
(uint8_t *)(color_frame.get_data()),
(uint16_t *)(depth_frame.get_data()),
(uint8_t *)(ir_frame.get_data())
};
... (calculation that uses intrinsic and extrinsic)
} catch (std::exception &e) {
throw e;
}
}We found after we patched the source files I commented before, there's no more segmentation fault. My concern is that if simply skipping null owner will cause a memory leak or other bugs. |
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Hi @marvin-hao |
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we do use some C APIs like rs2_deproject_pixel_to_point to align frames. Is there any available C++ API exposed already? We did use C++ API to align in rs1. |
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There is no limitation to mix C and C++ APIs, however, my concern is that the function |
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@marvin-hao please open-new issue if you reproduce this problem (closing for now) |
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I also run into Could you please show your solution? Although you have shared your I am puzzled by this problem for several days, my detailed situation is here. Could you provide your solution? Thanks in advance. |
I ran 4 SR300 cameras on one computer and utilized color, depth and ir streams at full resolution. After a while, I came across the following error (can replicate but not deterministic):
Thread 1 "python3.6" received signal SIGSEGV, Segmentation fault.
0x00007fffccdc99f1 in librealsense::frame::release (this=0xfd3558) at /home/arb/librealsense/src/archive.cpp:273
273 owner->unpublish_frame(this);
Backtrace:
#0 0x00007fffccdc99f1 in librealsense::frame::release (this=0xfd3558) at /home/arb/librealsense/src/archive.cpp:273
No locals.
#1 0x00007fffccf1fe6e in rs2_release_frame (frame=0xfd3558) at /home/arb/librealsense/src/rs.cpp:813
FUNCTION = "rs2_release_frame"
PRETTY_FUNCTION = "void rs2_release_frame(rs2_frame*)"
#2 0x00007fffcd7275ee in rs2::frame::~frame (this=, __in_chrg=) at /usr/local/include/librealsense2/hpp/rs_frame.hpp:172
No locals.
#3 rs2::frameset::foreach<rs2::frameset::first_or_default(rs2_stream) const::{lambda(rs2::frame)#1}>(rs2::frameset::first_or_default(rs2_stream) const::{lambda(rs2::frame)#1}) const (action=..., this=) at /usr/local/include/librealsense2/hpp/rs_frame.hpp:523
fref = 0xfd3558
i = 1
e = 0x0
#4 rs2::frameset::first_or_default (s=RS2_STREAM_COLOR, this=) at /usr/local/include/librealsense2/hpp/rs_frame.hpp:479
No locals.
#5 rs2::frameset::get_color_frame (this=) at /usr/local/include/librealsense2/hpp/rs_frame.hpp:498
f = {frame_ref = 0x0}
The library is compiled from source. Realsense Viewer works well.
Here is the source code:
for (...){
rs2::frameset frameset = pipe.wait_for_frames();
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