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AprilTags are a visual fiducial system popular for robotics research.

License: BSD 2-Clause "Simplified" License

Makefile 0.02% C 99.58% Objective-C 0.04% C++ 0.27% Shell 0.01% CMake 0.06% Python 0.01%

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Random segmentation faults on a Raspberry Pi

I was unsure if I should post this here, or in https://github.com/AprilRobotics/apriltag. They have a somewhat related issue: AprilRobotics#15

I'm getting random segfaults when running a long standing process on an RPI 4 model B:

[883] signal (11.1): Segmentation fault
in expression starting at none:0
image_u8_decimate at /home/yakir/.julia/artifacts/5a87b86c52cb9e73d6027291e3c64eb4f8686872/lib/libapriltag.so (unknown line)
image_u8_decimate at /home/yakir/.julia/artifacts/5a87b86c52cb9e73d6027291e3c64eb4f8686872/lib/libapriltag.so (unknown line)
Allocations: 80309507 (Pool: 80258145; Big: 51362); GC: 607
Segmentation fault

versions:

julia> versioninfo()
Julia Version 1.10.0
Commit 3120989f39b (2023-12-25 18:01 UTC)
Build Info:
 Official https://julialang.org/ release
Platform Info:
 OS: Linux (aarch64-linux-gnu)
 CPU: 4 × Cortex-A72
 WORD_SIZE: 64
 LIBM: libopenlibm
 LLVM: libLLVM-15.0.7 (ORCJIT, cortex-a72)
 Threads: 5 on 4 virtual cores

(...) pkg> st -m AprilTags
Status `~/dancingqueen/new2/Manifest.toml`
 [f0fec3d5] AprilTags v0.9.1

It seems to happen when a tag is absent from the image for long periods of time. Pretty hard to reproduce, but I can try to have it save a copy of the frame, attempt to detect the tag, and if it segfaults, the last saved image "should" be a reproducible example...

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