Memory leaks reading images from Native Buffer

Autonomous Machines Jetson & Embedded Systems Jetson TX1
1

Hello,

Shortly:

  1. I have two CSI cameras and Jetson TX1;
  2. I have tried sycnhSensor example - works fine;
  3. I have made an OpenCVConsumer, using some ideas other people provided in the forum. It works for the first 400 frames.

Code example:

while (true){
      Argus::Status status;
      /* Acquire the frame generated by the capture request */
      UniqueObj<EGLStream::Frame> frame_l (m_FrameConsumer_l->acquireFrame(1000000000, &status));
      if (status != STATUS_OK) CONSUMER_PRINT("Failed to acquire left frame");

      UniqueObj<EGLStream::Frame> frame_r (m_FrameConsumer_r->acquireFrame(1000000000, &status));
      if (status != STATUS_OK) CONSUMER_PRINT("Failed to acquire right frame");
      EGLStream::IFrame *iFrame_l = interface_cast<EGLStream::IFrame>(frame_l);

      EGLStream::IFrame *iFrame_r = interface_cast<EGLStream::IFrame>(frame_r);
      if(!iFrame_l || !iFrame_r) break;
      CONSUMER_PRINT("Acquired Left Frame: %llu, time %llu\n",
                       static_cast<unsigned long long>(iFrame_l->getNumber()),
                       static_cast<unsigned long long>(iFrame_l->getTime()));
      CONSUMER_PRINT("Acquired Right Frame: %llu, time %llu\n",
                       static_cast<unsigned long long>(iFrame_r->getNumber()),
                       static_cast<unsigned long long>(iFrame_r->getTime()));

      /* Get the image from the frame */
      EGLStream::Image *image_l  = iFrame_l->getImage();
      EGLStream::Image *image_r  = iFrame_r->getImage();
      if(!image_l || !image_r) CONSUMER_PRINT("Failed to get the images");

/* Create an NvBuffer */
      EGLStream::NV::IImageNativeBuffer *iImageNativeBuffer_l = interface_cast<EGLStream::NV::IImageNativeBuffer>(image_l);
      if(!iImageNativeBuffer_l) CONSUMER_PRINT("Failed to create an IImageNativeBuffer");
      EGLStream::NV::IImageNativeBuffer *iImageNativeBuffer_r = interface_cast<EGLStream::NV::IImageNativeBuffer>(image_r);
      if(!iImageNativeBuffer_r) CONSUMER_PRINT("Failed to create an IImageNativeBuffer");

      int dmabuf_fd_l = iImageNativeBuffer_l->createNvBuffer(STREAM_SIZE, NvBufferColorFormat_YUV420, NvBufferLayout_Pitch, &status);
      if (status != STATUS_OK) CONSUMER_PRINT("Failed to create a native buffer");
      int dmabuf_fd_r = iImageNativeBuffer_r->createNvBuffer(STREAM_SIZE, NvBufferColorFormat_YUV420, NvBufferLayout_Pitch, &status);
      if (status != STATUS_OK) CONSUMER_PRINT("Failed to create a native buffer");

      NvBufferParams params_l, params_r;
      int ret = NvBufferGetParams(dmabuf_fd_l, &params_l);
      if (ret < 0) CONSUMER_PRINT("Failed to obtain params");
      ret = NvBufferGetParams(dmabuf_fd_r, &params_r);
      if (ret < 0) CONSUMER_PRINT("Failed to obtain params");
      int i = 0;
        
      uint8_t* data_mem_l = static_cast<uint8_t*>(mmap(NULL, params_l.pitch[i] * params_l.height[i], PROT_READ, MAP_SHARED, dmabuf_fd_l, params_l.offset[i]));
      uint8_t* data_mem_r = static_cast<uint8_t*>(mmap(NULL, params_r.pitch[i] * params_r.height[i], PROT_READ, MAP_SHARED, dmabuf_fd_r, params_r.offset[i]));
      if (data_mem_r == MAP_FAILED)
         printf("mmap failed : %s\n", strerror(errno));

const cv::Mat left = cv::Mat (params_l.height[i], params_l.width[i], CV_8UC1, data_mem_l, params_l.pitch[i]);
      const cv::Mat right = cv::Mat (params_r.height[i], params_r.width[i], CV_8UC1, data_mem_r, params_r.pitch[i]);
      cv::imshow("left", left);
      cv::imshow("right", right);

      cv::waitKey(1);

/* Destroy NvBuffers */
      ret = NvBufferDestroy(dmabuf_fd_l);
      if (ret < 0) CONSUMER_PRINT("Failed to Destroy buff");
      ret = NvBufferDestroy(dmabuf_fd_r);
      if (ret < 0) CONSUMER_PRINT("Failed to Destroy buff");
}

So I have tried various resolutions and pixel formats - it works fine for the first 400 frames, later I get the following error:

NvRmChannelSubmit: NvError_IoctlFailed with error code 22
NvRmPrivFlush: NvRmChannelSubmit failed (err = 196623, SyncPointIdx = 56, SynchPointValue = 0)

I have noticed that it only happens if mmap is executed(uncommented).

2

Hi stereoIV,

I guess this issue should not only happen on 2 sensor. Could you send me your sample in private message? I could take a look.

3

It was a memory leak, I was not using mmap properly.
Another question - is it possible to use libargus applications without display? Because whenever I try to run any sample or my own app via ssh I get the run time error, saying:

(Argus) Error NotSupported: Failed to initialize EGLDisplay (in src/eglutils/EGLUtils.cpp, function getDefaultDisplay(), line 75)

And the thing is that I do not use the display anywhere.

4

Do you try export DISPLAY=:0 ?

5

It seems that it helped. Thank you!

Another issue that I have came across is that sometimes the cameras would not launch:

CONSUMER_PRINT("Waiting until producer is connected...\n");
if (iStream->waitUntilConnected() != STATUS_OK)
        ORIGINATE_ERROR("Stream failed to connect.");

So it gets stuck at this moment and I have to restart the Jetson board in order to get it working.

CONSUMER: Waiting until producer is connected...

Is there a way to solve this either in code or using some API/command line to restart libargus daemon…?

6

’

7

Did you try it on reference sensor board? Can we get your APP to repo the problem?

8

Hi WayneWWW / stereoIV,

I seem to be facing a similar issue of memory leak. Could you please tell me what was incorrect in your implementation of mmap API and how you corrected it as I am using the same API and facing the same error.

Would be really grateful if you could share some code as well if its not an issue.

Thanks

9

Please refer to sample of using APIs in nvbuf_utils.h
[url]https://devtalk.nvidia.com/default/topic/1026106/jetson-tx1/usage-of-nvbuffer-apis/post/5224382/#5224382[/url]