Alignment to depth causes segmentation fault

[DuccioLenkowicz]

---

Required Info
Camera Model	{ D435 }
Operating System & Version	{ Win (10) }
SDK Version	{ 2.16.1 }
Language	{C++}

Issue Description

I'm trying to align the rgb to the depth to obtain something similar to #2560 , the code i'm using is the following:

pipeline pipe;
config cfg;
cfg.enable_stream( rs2_stream::RS2_STREAM_COLOR, 848, 480, rs2_format::RS2_FORMAT_BGR8, 30 );
cfg.enable_stream( rs2_stream::RS2_STREAM_DEPTH, 848, 480, rs2_format::RS2_FORMAT_Z16, 30 );
pipe.start(cfg);
align align(rs2_stream::RS2_STREAM_DEPTH);

// ...
// ... later in a loop
// ...

 auto frameset = pipe.wait_for_frames();
 auto processed = align.process(frameset);

The segfault happens in the process function.

[DuccioLenkowicz]

I fixed it by looking at the rs-measure example, the color stream must be of the format RS2_FORMAT_BGRA8 or RS2_FORMAT_RGBA8 in order for the alignment to work.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
@DuccioLenkowicz Thanks for the update! We'll close the ticket accordingly.

[ThomasBrandonD]

I wanted to reopen this issue because I've been struggling with it for several weeks. Has anyone else encountered the same issue as OP except his fix didn't work?

[whatisor]

I also get same problem when try to run on Raspbian. Color formats did not help.
If do not call align process, it runs well.

[ThomasBrandonD]

Ah, I should also mention I'm running on Ubuntu, so technically its a different problem than OP because he's on Windows. Is there an open ticket for this on linux?

[whatisor]

This seems to be very strange but issue only occurs if I "link" my program with other library(OpenVINO).

`

//#include "AIClient.h"

//#include "GlobalMatching.h"

#include <thread>

#include  <librealsense2/rs.hpp>

#include "opencv2/highgui.hpp"

#include "opencv2/imgproc.hpp"

#include "RealsenseTool.hpp"

int main(int argc, char** argv)

{

//      GlobalMatching globalMatch;

//AIClient aiClient1("829212072062", globalMatch);

//AIClient aiClient2("912112074076", globalMatch);

if(argc > 1)

;//aiClient1.model = argv[1];

if (argc > 2)

;//aiClient1.device = argv[2];

//aiClient1.start();

 //aiClient2.start();

//aiClient1.join();

//aiClient2.join();

rs2::pipeline pipe;

rs2::config cfg;

cfg.enable_stream(RS2_STREAM_INFRARED);

cfg.enable_stream(RS2_STREAM_DEPTH);

cfg.enable_stream(RS2_STREAM_COLOR);

pipe.start(cfg);

rs2::align align_to_color(RS2_STREAM_COLOR);

rs2::colorizer c;

while(1){

auto frameset = pipe.wait_for_frames();

frameset = align_to_color.process(frameset);//segmentation fault here

auto depth = frameset.get_depth_frame();

auto color = frameset.get_color_frame();

auto colorized = c.colorize(depth);

cv::Mat dMat = frame_to_mat(depth);

cv::Mat cMat = frame_to_mat(color);

cv::imshow("Color",cMat);

//cv::imshow("Depth",dMat);

int a = cv::waitKey(1);

if(a == 'q')break;

}        return 0;

}

`

[whatisor]

And here is gdb log:

0x763f4134 in librealsense::align::create_aligned_profile (this=this@entry=0x1bdfa4,
original_profile=..., to_profile=...)
at /home/pi/OpenVINO/build/librealsense/src/../include/librealsense2/hpp/rs_frame.hpp:48
warning: Source file is more recent than executable.
48 /
(gdb) bt
#0 0x763f4134 in librealsense::align::create_aligned_profile(rs2::video_stream_profile&, rs2::video_stream_profile&)
(this=this@entry=0x1bdfa4, original_profile=..., to_profile=...)
at /home/pi/OpenVINO/build/librealsense/src/../include/librealsense2/hpp/rs_frame.hpp:48
#1 0x763f4a3c in librealsense::align::allocate_aligned_frame(rs2::frame_source const&, rs2::video_frame const&, rs2::video_frame const&)
(this=this@entry=0x1bdfa4, source=..., from=..., to=...)
at /home/pi/OpenVINO/build/librealsense/src/proc/align.cpp:218
#2 0x763f50d0 in librealsense::align::process_frame(rs2::frame_source const&, rs2::frame const&) (this=0x1bdfa4, source=..., f=...)
at /home/pi/OpenVINO/build/librealsense/src/proc/align.cpp:278
#3 0x764083e8 in librealsense::generic_processing_block::<lambda(rs2::frame, const rs2::frame_source&)>::operator() (__closure=0x1cb574, source=..., f=...)
at /home/pi/OpenVINO/build/librealsense/src/proc/synthetic-stream.cpp:67
#4 0x764083e8 in rs2::frame_processor_callback<librealsense::generic_processing_block::generic_processing_block(char const)::<lambda(rs2::frame, const rs2::frame_source&)> >::on_frame(rs2_frame , rs2_source )
(this=0x1cb570, f=, source=)
at /home/pi/OpenVINO/build/librealsense/src/../include/librealsense2/hpp/rs_processing.hpp:109
#5 0x764066d4 in librealsense::processing_block::invoke(librealsense::frame_holder)
(this=0x1bdfa4, f=...)
at /home/pi/OpenVINO/build/librealsense/src/proc/synthetic-stream.h:37
#6 0x764f4dd8 in rs2_process_frame(rs2_processing_block, rs2_frame, rs2_error**)
(block=, frame=, error=0x7effef40)
at /home/pi/OpenVINO/build/librealsense/src/core/streaming.h:138
#7 0x00031c38 in main ()