MPA to ROS node crash when subscribing to Disparity

vivek rk

When I run the stock voxl_mpa_to_ros node on the VOXL2 and subscribe to the topic for stereo_disparity, the stereo interface throws the following error

Stereo interface received non-stereo frame, exiting stereo

I checked out the code and noticed that the problem is here in the stereo_interface.cpp at line 111

if(meta.format != IMAGE_FORMAT_STEREO_RAW8){
       printf("Stereo interface received non-stereo frame, exiting stereo\n");
       interface->StopPublishing();
       interface->StopAdvertising();
   }

I added a printf to see what format is being received using a printf statement and it is an integer with value 0 or IMAGE_FORMAT_RAW8
got format 0

So i modified the node to be the following

if(meta.format != IMAGE_FORMAT_STEREO_RAW8){// && meta.format != IMAGE_FORMAT_RAW8){
       printf("Stereo interface received non-stereo frame, exiting stereo\n");
       printf("got format %d\n", meta.format);
       interface->StopPublishing();
       interface->StopAdvertising();
   }

The node crashes once more and this time, without any error. When running with GDB i see that it crashes at line 152, which is

memcpy(&(imgR.data[0]), &frame[dataSize], dataSize)

Commenting this line allows the node to work, but now i cant access the right stereo images via ROS

I am running system image 1.5.5-M0054-14.1a-perf with voxl-suite: 0.9.5

Seems like there should be a quick fix for this, can someone help me out here ?

Chad Sweet

@vivek-rk said in MPA to ROS node crash when subscribing to Disparity:

f(meta.format != IMAGE_FORMAT_STEREO_RAW8){
printf("Stereo interface received non-stereo frame, exiting stereo\n");
interface->StopPublishing();
interface->StopAdv

stereo_disparity is a single image, not a stereo image. You should use a regular camera interface for that data type and not a stereo image interface

stereo images are two images side by side in the same block of memory

planch98

@vivek-rk hi, I've found your same problem, did you manage to solve it?

afdrus

@Chad-Sweet Same issue over here, this happens without modifying any line of code though, therefore it seems like there is a bug in the release, could you please point out to where this bug may be hidden?

afdrus

@Chad-Sweet Is this issue, reported also here, solved?