GpuMat invalid argument

[BB142]

Hey,

thanks a lot for the awesome examples.
I tried your cuda GpuMat examples and it is working fine.
Doing stuff with the GpuMat at the listener side is somehow impossible.
Functions like download, clone(), etc. yield an invalid argument error.
The gpu_mat is not empty.

Any idea how to access the data of the GpuMat at listener side?

[ZhenshengLee]

Doing stuff with the GpuMat at the listener side is somehow impossible.
Functions like download, clone(), etc. yield an invalid argument error.
The gpu_mat is not empty.

Thanks for your report! I have't test the post-process of GpuMat.
Could you help to reproduce this behavior?

1. fork this repo, commit your test code, give the link here.
2. give your running environment, ubuntu version? ros2 version? in this post.
3. give your steps to reproduce the error in this post.
4. give your errors, paste the output here.

Thanks! @BB142

[BB142]

Thanks for your fast response.

1. https://github.com/BB142/ros2_shm_msgs
2. Ubuntu 22.04 Ros Humble
3. git clone https://github.com/BB142/ros2_shm_msgs (to ws src) & export GPUAC_COMPILE_WITH_CUDA=true & cd ws_root & colcon build
   source install/setup.bash
   terminal 1: ros2 run shm_msgs gmat_image_node
   terminal 2: ros2 run shm_msgs gmat_image_listener
4. terminate called after throwing an instance of 'cv::Exception'
   what(): OpenCV(4.6.0) /home/roomba/opencv/modules/core/src/cuda/gpu_mat.cu:246: error: (-217:Gpu API call) invalid argument in function 'download'

This error happens when splitting the talker and listener in two seperate executor. With one executor everything works fine.
Is there a way to get those two nodes running in different executors?

[ZhenshengLee]

You can not simply use ros2 run because it will not able to find the image file.

ros2_shm_msgs/cuda/gmat_image_talker.hpp

Line 51 in 42fde5f

m_input_cvimage->image = cv::imread("./res/img/1920_1080.jpg");

so, use this command to run the origional executable, to check if there is still output the error.

cd ./install/shm_msgs/lib/shm_msgs/
./gmat_image_node

[ZhenshengLee]

I will find some time to check your code in the fork. humble...BB142:ros2_shm_msgs:humble

Before this , I suggest you run the original code to test the new type adaption feature in humble.