ROS cv_bridge::toCvCopy fails with segmentation fault - c++

Question

I'm experiencing a weird segmentation fault. When executing cv_bridge::toCvCopy in a ROS node, it fails with segmentation fault. I'm sure that the given message has data, and the code is enclosed with try...catch.
ROS version: kinetic, OpenCV version: 2.4, Ubuntu version: 16.04.
Code:
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
void ImageCallback(const sensor_msgs::ImageConstPtr& msg)
{
std::cerr<<"msg->header: "<<msg->header<<std::endl;
std::cerr<<"msg->height: "<<msg->height<<std::endl;
std::cerr<<"msg->width: "<<msg->width<<std::endl;
std::cerr<<"msg->encoding: "<<msg->encoding<<std::endl;
std::cerr<<"msg->is_bigendian: "<<int(msg->is_bigendian)<<std::endl;
std::cerr<<"msg->step: "<<msg->step<<std::endl;
std::cerr<<"msg->data.size(): "<<msg->data.size()<<std::endl;
std::cerr<<"msg->data[0,1,2]: "<<int(msg->data[0])<<" "<<int(msg->data[1])<<" "<<int(msg->data[2])<<std::endl;
std::cerr<<"msg->data[size()-1]: "<<int(msg->data[msg->data.size()-1])<<std::endl;
std::cerr<<"msg->data[size()-2]: "<<int(msg->data[msg->data.size()-2])<<std::endl;
std::cerr<<"msg->data[size()-3]: "<<int(msg->data[msg->data.size()-3])<<std::endl;
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
std::cerr<<"debug.p1"<<std::endl;
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
std::cerr<<"cv_ptr: "<<cv_ptr<<std::endl;
std::cerr<<"cv_ptr->image: "<<cv_ptr->image<<std::endl;
cv::Mat frame= cv_ptr->image;
cv::imshow("camera",frame);
char c(cv::waitKey(1));
if(c=='\x1b'||c=='q') ros::shutdown();
}
int main(int argc, char**argv)
{
ros::init(argc, argv, "sub_img_node");
ros::NodeHandle node("~");
std::string img_topic("/camera/color/image_raw");
if(argc>1) img_topic= argv[1];
cv::namedWindow("camera",1);
ros::Subscriber sub_img= node.subscribe(img_topic, 1, &ImageCallback);
ros::spin();
return 0;
}
Output:
msg->header: seq: 352
stamp: 1610458354.727051013
frame_id: head_camera
msg->height: 480
msg->width: 640
msg->encoding: rgb8
msg->is_bigendian: 0
msg->step: 1920
msg->data.size(): 921600
msg->data[0,1,2]: 207 224 219
msg->data[size()-1]: 209
msg->data[size()-2]: 212
msg->data[size()-3]: 201
Segmentation fault (core dumped)
From the result, we can see that the topic msg has data correctly and the line next to cv_bridge::toCvCopy is not executed, so the segmentation fault happened at cv_bridge::toCvCopy.
Furthermore, I analyzed the core dump with gdb:
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
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License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
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and "show warranty" for details.
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For help, type "help".
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Reading symbols from bin/sub_img_node...done.
[New LWP 101971]
[New LWP 101976]
[New LWP 101983]
[New LWP 101984]
[New LWP 101981]
[New LWP 101972]
[New LWP 101982]
[New LWP 101974]
[New LWP 101975]
warning: Unexpected size of section `.reg-xstate/101971' in core file.
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Core was generated by `bin/sub_img_node /usb_cam/image_raw'.
Program terminated with signal SIGSEGV, Segmentation fault.
warning: Unexpected size of section `.reg-xstate/101971' in core file.
#0 0x00007fb2f5026b44 in cv::_InputArray::type(int) const () from /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4
[Current thread is 1 (Thread 0x7fb2f628fac0 (LWP 101971))]
(gdb) bt
#0 0x00007fb2f5026b44 in cv::_InputArray::type(int) const () from /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4
#1 0x00007fb2efa655bc in cv::cvtColor(cv::_InputArray const&, cv::_OutputArray const&, int, int) ()
from /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3
#2 0x00007fb2f5505cf3 in cv_bridge::toCvCopyImpl(cv::Mat const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) ()
from /opt/ros/kinetic/lib/libcv_bridge.so
#3 0x00007fb2f5506103 in cv_bridge::toCvCopy(sensor_msgs::Image_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/kinetic/lib/libcv_bridge.so
#4 0x00007fb2f55061e0 in cv_bridge::toCvCopy(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) () from /opt/ros/kinetic/lib/libcv_bridge.so
#5 0x00000000004074fb in ImageCallback (msg=...) at /home/akihikoy/prg/ay_test/ros/cpp_ros/test2/src/sub_img_node.cpp:49
#6 0x000000000040a91b in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&>::operator() (a0=...,
this=<optimized out>) at /usr/include/boost/function/function_template.hpp:773
#7 boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>) (function_obj_ptr=..., a0=...) at /usr/include/boost/function/function_template.hpp:159
#8 0x000000000040af63 in boost::function1<void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::operator() (a0=..., this=<optimized out>)
at /usr/include/boost/function/function_template.hpp:773
#9 ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::call (this=0x12915e0, params=...)
at /opt/ros/kinetic/include/ros/subscription_callback_helper.h:144
#10 0x00007fb2f5ec2e2d in ros::SubscriptionQueue::call() () from /opt/ros/kinetic/lib/libroscpp.so
#11 0x00007fb2f5e686f8 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/kinetic/lib/libroscpp.so
#12 0x00007fb2f5e6a0fb in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/kinetic/lib/libroscpp.so
#13 0x00007fb2f5ec6ef9 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/kinetic/lib/libroscpp.so
#14 0x00007fb2f5eabedb in ros::spin() () from /opt/ros/kinetic/lib/libroscpp.so
#15 0x0000000000406276 in main (argc=2, argv=0x7ffe650933c8) at /home/akihikoy/prg/ay_test/ros/cpp_ros/test2/src/sub_img_node.cpp:78
However I could not find the reason of the error. Could anyone suggest a solution?

Answer 1

I do not why, but I solved this issue by replacing /opt/ros/kinetic/lib/libcv_bridge.so with libcv_bridge.so.0d in the libcv-bridge0d package.
Detailed procedure:
$ sudo apt-get -f install libcv-bridge0d
$ cd /opt/ros/kinetic/lib/
$ sudo mv libcv_bridge.so{,.trouble}
$ sudo ln -s /usr/lib/x86_64-linux-gnu/libcv_bridge.so.0d libcv_bridge.so
Also I had a similar trouble in Python, which could be solved by this:
$ sudo apt-get -f install python-cv-bridge