[Jderobot] Problemas al ejecutar diversos componentes de la rama stable

Juan Navarro Bosgos jnbosgos en gmail.com
Lun Oct 28 17:43:34 CET 2013 

Hola,

revisando esta incidencia que coment茅, he observado algunos cambios:

cameraserver ya no me lanza una "Violaci贸n de segmento", pero al ejecutarlo
se me cierra ofreciendo la siguiente salida:

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/cameraserver$
./cameraserver --Ice.Config=cameraserver.cfg
Constructor CameraI -> CameraSrv.Camera.0.
URI: 0
jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/cameraserver$


revisando el c贸digo de cameraserver.cpp he observado que el problema
parec铆a ser que la condici贸n de la l铆nea 101 de dicha clase:
"if(cap.isOpened())" devolv铆a cero; para comprobarlo he impreso el estado
por pantalla antes de que entrase a la condici贸n y tras sus asignaci贸n en
las l铆neas 96 a 99, mediante "std::cout << "cap.isOpened: " <<
cap.isOpened() << std::endl;", obteniendo:

cap.isOpened: 0


el fichero de configuraci贸n utilizado es el que est谩 en el repositorio; en
el port谩til que lo ejecuto hay una webcam integrada, y en versiones
anteriores de jderobot el componente me funcionaba utilizando como Uri
'/dev/video0' (si utilizo dicha uri ahora me salta la Violaci贸n de
segmento), se supone que el '0' que aparece en el fichero de configuraci贸n
hace referencia a dicha ruta; entonces no s茅 c贸mo solucionarlo para que
abra el capturador de video y no se termine la ejecuci贸n.


Luego con respecto a openniServer, como utilizo Kinect como sensor RGBD, no
me pod铆a funcionar ya que OpenNI2 no lo soporta; as铆 que deb铆a utilizar
openni1Server. Utilizando un kinect real, openni1Server lo detecta pero se
produce un fallo por TimeOut mientras espera datos nuevos, y la mayor铆a de
las veces termina la ejecuci贸n inesperadamente con una Violaci贸n de
segmento, otras pocas se queda ejecutando pero lanzando avisos de timeouts
de las distintas c谩maras:

Sin violaci贸n de segmento:

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/openni1Server$
./openni1Server --Ice.Config=openni1Server.cfg
-! 10/28/13 17:29:17.519 warning: found unknown properties for object
adapter `openni1Server':
       openni1Server.CameraDEPTH
       openni1Server.CameraDEPTH.Format
       openni1Server.CameraDEPTH.Name
       openni1Server.CameraDEPTH.fps
       openni1Server.CameraRGB
       openni1Server.CameraRGB.Format
       openni1Server.CameraRGB.Name
       openni1Server.CameraRGB.fps
       openni1Server.Fps
       openni1Server.Height
       openni1Server.KinectLedsActive
       openni1Server.NCameras
       openni1Server.PlayerDetection
       openni1Server.Pose3DMotorsActive
       openni1Server.Width
       openni1Server.calibration
       openni1Server.deviceId
       openni1Server.pointCloud.Fps
       openni1Server.pointCloudActive
Selected device: 0
NCAMERAS = 2
Found device: vendor PrimeSense name SensorKinect
Number of detected devices: 1
[Device 0] PrimeSense, SensorKinect, serial=A00365905701052A
Creating camera cameraA
openni1Server.CameraRGB.PlayerDetection
Starting thread for camera: cameraA
              -------- openni1Server: Component: CameraRGB created
successfully   --------
Creating camera cameraB
Starting thread for camera: cameraB
              -------- openni1Server: Component: CameraDEPTH created
successfully   --------
Creating pointcloud1 pointcloud1
              -------- openni1Server: Component: PointCloud created
successfully   --------
CREADO
FPS: 10
------------------------------------------------------
Camera

     Position: (X,Y,Z,H)=(1895.0,4983.0,857.0,1.0)
     Focus of Attention: (x,y,z,h)=(4633.0,642.0,1088.0,1.0)

     Focus DistanceX(vertical): 515.0 mm
     Focus DistanceY(horizontal): 515.0 mm
     Skew: 0.00000
     Optical Center: (x,y)=(219.0,323.0)

     K Matrix: | 515.0 0.0 219.0 0.0 |
               | 0.0 515.0 323.0 0.0 |
               | 0.0 0.0 1.0 0.0 |

 R&T Matrix: | -0.0 0.0 1.0 -1000.2 |
             | -0.8 -0.5 0.0 4261.1 |
             | 0.5 -0.8 0.0 3162.0 |
             | 0.0 0.0 0.0 1.0 |

------------------------------------------------------
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
-------- openni1Server: WARNING- DEPTH timeout-
-------- openni1Server: WARNING- POINTCLOUD timeout-
-------- openni1Server: WARNING- RGB timeout-
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
-------- openni1Server: WARNING- POINTCLOUD timeout-
-------- openni1Server: WARNING- DEPTH timeout-
-------- openni1Server: WARNING- RGB timeout-
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
-------- openni1Server: WARNING- POINTCLOUD timeout-
-------- openni1Server: WARNING- DEPTH timeout-
-------- openni1Server: WARNING- RGB timeout-
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
-------- openni1Server: WARNING- POINTCLOUD timeout-
-------- openni1Server: WARNING- DEPTH timeout-
-------- openni1Server: WARNING- RGB timeout-
-------- openni1Server: WARNING- RGB timeout-
-------- openni1Server: WARNING- POINTCLOUD timeout-
-------- openni1Server: WARNING- DEPTH timeout-
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
-------- openni1Server: WARNING- POINTCLOUD timeout-
-------- openni1Server: WARNING- DEPTH timeout-
-------- openni1Server: WARNING- RGB timeout-
^C
jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/openni1Server$


Con violaci贸n de segmento:

jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/openni1Server$
./openni1Server --Ice.Config=openni1Server.cfg
-! 10/28/13 17:31:16.425 warning: found unknown properties for object
adapter `openni1Server':
       openni1Server.CameraDEPTH
       openni1Server.CameraDEPTH.Format
       openni1Server.CameraDEPTH.Name
       openni1Server.CameraDEPTH.fps
       openni1Server.CameraRGB
       openni1Server.CameraRGB.Format
       openni1Server.CameraRGB.Name
       openni1Server.CameraRGB.fps
       openni1Server.Fps
       openni1Server.Height
       openni1Server.KinectLedsActive
       openni1Server.NCameras
       openni1Server.PlayerDetection
       openni1Server.Pose3DMotorsActive
       openni1Server.Width
       openni1Server.calibration
       openni1Server.deviceId
       openni1Server.pointCloud.Fps
       openni1Server.pointCloudActive
Selected device: 0
NCAMERAS = 2
Found device: vendor PrimeSense name SensorKinect
Number of detected devices: 1
[Device 0] PrimeSense, SensorKinect, serial=A00365905701052A
Creating camera cameraA
openni1Server.CameraRGB.PlayerDetection
Starting thread for camera: cameraA
              -------- openni1Server: Component: CameraRGB created
successfully   --------
Creating camera cameraB
Starting thread for camera: cameraB
              -------- openni1Server: Component: CameraDEPTH created
successfully   --------
Creating pointcloud1 pointcloud1
              -------- openni1Server: Component: PointCloud created
successfully   --------
FPS: 10
CREADO
------------------------------------------------------
Camera

     Position: (X,Y,Z,H)=(1895.0,4983.0,857.0,1.0)
     Focus of Attention: (x,y,z,h)=(4633.0,642.0,1088.0,1.0)

     Focus DistanceX(vertical): 515.0 mm
     Focus DistanceY(horizontal): 515.0 mm
     Skew: 0.00000
     Optical Center: (x,y)=(219.0,323.0)

     K Matrix: | 515.0 0.0 219.0 0.0 |
               | 0.0 515.0 323.0 0.0 |
               | 0.0 0.0 1.0 0.0 |

 R&T Matrix: | -0.0 0.0 1.0 -1000.2 |
             | -0.8 -0.5 0.0 4261.1 |
             | 0.5 -0.8 0.0 3162.0 |
             | 0.0 0.0 0.0 1.0 |

------------------------------------------------------
WaitAnyUpdateAll() failed failed: A timeout has occurred when waiting for
new data!
Violaci贸n de segmento (`core' generado)
jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/openni1Server$



Si alguno sab茅is como solucionar alguno de los 2 problemas, o por d贸nde
puede estar el fallo, os lo agradecer铆a.

Saludos,
Juan


2013/10/8 Juan Navarro Bosgos <jnbosgos en gmail.com>

> Hola,
>
> tras el problema con basic_component al compilar todo jderobot [1], he
> utilizado el m茅todo de compilaci贸n por componentes para compilar todos
> menos ese (basic_component) y el make ha resultado bien.
>
> Ahora el problema lo tengo al ejecutar los componentes, al menos los que
> he probado; y tras pegarme con ficheros de configuraci贸n, la wiki y mirar
> los c贸digos de los componentes, he decidido comentarlo a ver si alguien
> sabe por d贸nde puede estar el problema.
> El 煤nico que consigo hacer funcionar es el plugin de kinect en gazebo
> 1.7.3. Los problemas los tengo con (los ficheros de las salidas en general
> son los del repositorio, aunque modific谩ndolos obtengo los mismos
> resultados):
>
> cameraserver probado conectado a la webcam del portatil (tambi茅n he
> probado con un video d谩ndole la ruta, con los mismos resultados) :
>
> jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/cameraserver$
> ./cameraserver --Ice.Config=cameraserver.cfg
> Constructor CameraI -> CameraSrv.Camera.0.
> URI: v4l2:///dev/video0
> Violaci贸n de segmento (`core' generado)
>
>
> openniServer con un kinect real:
>
> jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/openniServer$
> ./openniServer --Ice.Config=openniServer.cfg
> -! 10/08/13 21:59:39.670 warning: found unknown properties for object
> adapter `openniServer':
>        openniServer.CameraDEPTH
>        openniServer.CameraDEPTH.Format
>        openniServer.CameraDEPTH.Mirror
>        openniServer.CameraDEPTH.Name
>        openniServer.CameraDEPTH.PlayerDetection
>        openniServer.CameraDEPTH.fps
>        openniServer.CameraIR
>        openniServer.CameraRGB
>        openniServer.CameraRGB.Format
>        openniServer.CameraRGB.Mirror
>        openniServer.CameraRGB.Name
>        openniServer.CameraRGB.PlayerDetection
>        openniServer.CameraRGB.fps
>        openniServer.ImageRegistration
>        openniServer.KinectLedsActive
>        openniServer.Mode
>        openniServer.NCameras
>        openniServer.PlayerDetection
>        openniServer.PointCloud.Name
>        openniServer.Pose3DMotorsActive
>        openniServer.deviceId
>        openniServer.pointCloud.Fps
>        openniServer.pointCloudActive
> Selected device: 0
> NCAMERAS = 2
> Missing devices
> 0 : Couldn't open device 锟斤拷锟斤拷1: DeviceOpen: Couldn't open device '锟斤拷锟斤拷1'
>
> Violaci贸n de segmento (`core' generado)
>
>
> recorder conectado a gazebo con el plugin de kinect:
>
> jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/recorder$
> ./recorder --Ice.Config=simulatedKinect.cfg
> Outgoing.cpp:424: Ice::ObjectNotExistException:
> object does not exist:
> identity: `CameraI'
> facet:
> operation: ice_isA
> 0
>
>
> kinectViewer conectado a gazebo con plugin de kinect:
>
> jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/kinectViewer$
> ./kinectViewer --Ice.Config=kinectViewer.cfg
> Outgoing.cpp:424: Ice::ObjectNotExistException:
> object does not exist:
> identity: `CameraI'
> facet:
> operation: ice_isA
> terminate called after throwing an instance of
> 'IceUtil::NullHandleException'
>   what():  /usr/include/IceUtil/Handle.h:46: IceUtil::NullHandleException
> Abortado (`core' generado)
>
>
>
> La salida de la ejecuci贸n de gazebo con el plugin de kinect al que conecto
> algunos de los componentes anteriores, por si puede ser de utilidad, es:
>
> jnbosgos en teleko:~/pfc/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect$
> gazebo kinect.world
> Gazebo multi-robot simulator, version 1.7.3
> Copyright (C) 2013 Open Source Robotics Foundation.
> Released under the Apache 2 License.
> http://gazebosim.org
>
> Gazebo multi-robot simulator, version 1.7.3
> Copyright (C) 2013 Open Source Robotics Foundation.
> Released under the Apache 2 License.
> http://gazebosim.org
>
> Msg Waiting for master.Warning [parser.cc:361] Converting a deprecated SDF
> source[/home/jnbosgos/pfc/jderobot/trunk/src/stable/components/gazeboserver/pluginsGazebo/kinect/kinect.world].
> Warning [Converter.cc:58]   Version[1.0] to Version[1.4]
>   Please use the gzsdf tool to update your SDF files.
>     $ gzsdf convert [sdf_file]
> Warning [parser.cc:361] Converting a deprecated SDF
> source[/home/jnbosgos/.gazebo/models/ground_plane/model.sdf].
> Warning [Converter.cc:58]   Version[1.2] to Version[1.4]
>   Please use the gzsdf tool to update your SDF files.
>     $ gzsdf convert [sdf_file]
> Warning [parser.cc:361] Converting a deprecated SDF
> source[/home/jnbosgos/.gazebo/models/sun/model.sdf].
> Warning [Converter.cc:58]   Version[1.2] to Version[1.4]
>   Please use the gzsdf tool to update your SDF files.
>     $ gzsdf convert [sdf_file]
> Msg Waiting for master
> Msg Connected to gazebo master @ http://127.0.0.1:11345
> Msg Publicized address: 192.168.1.108
>
> Msg Connected to gazebo master @ http://127.0.0.1:11345
> Msg Publicized address: 192.168.1.108
> Kinect Endpoints > default -h localhost -p 9998
> Constructor CameraI
> safeThread
> Constructor CameraDepth
> safeThread
>         adapter->add(object, ic->stringToIdentity(Kinect));
>
>
>  y el fichero de configuraci贸n de recorder 'simulatedKinect.cfg':
>
> Recorder.FileName=datos.jde
> Recorder.nCameras=1
> Recorder.nDethSensors=1
> Recorder.nLasers=0
> Recorder.DepthSensor1.Proxy=CameraDepth:tcp -h localhost -p 9998
> Recorder.Camera1.Proxy=CameraI:tcp -h localhost -p 9998
> Recorder.GUI=1
>
> Recorder.Hostname=localhost
> Recorder.Port=9990
> Recorder.Format=png
> Recorder.PngCompression=0
> #from 0 to 9. A higher value means a smaller size
> Recorder.JpgQuality=80
> # from 0 to 100 (the higher is the better)
> Recorder.Laser.Samples=180
> Recorder.Hz=10
>
>
> Un saludo,
> Juan
>
> [1] [Jderobot] Problema con openniServer al hacer el make<http://jderobot-developer-list.2315034.n4.nabble.com/Jderobot-Problema-con-openniServer-al-hacer-el-make-tp4641664.html>
>
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