From 7c7dbba74a843ec834d3da73e4aeec1387966299 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 17 Jun 2019 10:54:10 +0300
Subject: [PATCH] Fix for segfault in net chunk recv
---
components/rgbd-sources/src/net.cpp | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index a527665c2..bd4d5127f 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -94,13 +94,14 @@ void NetSource::_recvChunk(int frame, int chunk, bool delta, const vector<unsign
int cx = (chunk % chunks_dim_) * chunk_width_;
int cy = (chunk / chunks_dim_) * chunk_height_;
+ // Lock host to prevent grab
+ UNIQUE_LOCK(host_->mutex(),lk);
+
cv::Rect roi(cx,cy,chunk_width_,chunk_height_);
cv::Mat chunkRGB = rgb_(roi);
//cv::Mat ichunkDepth = idepth_(roi);
cv::Mat chunkDepth = depth_(roi);
- // Lock host to prevent grab
- UNIQUE_LOCK(host_->mutex(),lk);
tmp_rgb.copyTo(chunkRGB);
//tmp_depth.convertTo(tmp_depth, CV_16UC1);
//if (delta) ichunkDepth = tmp_depth - ichunkDepth;
@@ -129,7 +130,7 @@ void NetSource::setPose(const Eigen::Matrix4f &pose) {
}
void NetSource::_updateURI() {
- //unique_lock<mutex> lk(mutex_);
+ UNIQUE_LOCK(mutex_,lk);
active_ = false;
auto uri = host_->get<string>("uri");
@@ -165,6 +166,7 @@ void NetSource::_updateURI() {
chunks_dim_ = ftl::rgbd::kChunkDim;
chunk_width_ = params_.width / chunks_dim_;
chunk_height_ = params_.height / chunks_dim_;
+ // TODO(Nick) Must lock before changing these below since some thread may still be updating chunk
rgb_ = cv::Mat(cv::Size(params_.width, params_.height), CV_8UC3, cv::Scalar(0,0,0));
depth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_32FC1, 0.0f);
//idepth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_16UC1, cv::Scalar(0));
--
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