ROS ERROR: segmentation fault (core Dumped)

Question

我一直在用 ROS 在无人机上运行开发人脸检测应用程序。面部检测代码是可以在 google 上找到的代码并且工作正常但是当我将它与 ROS 混合时，我一直在努力解决错误：segmentation fault (core dumped)。我试图找到错误，例如使用错误类型的变量但没有成功。这是代码：

    while not rospy.is_shutdown():
        # Capture frame-by-frame
        ret, frame = video_capture.read()
        frame = imutils.resize(frame, width=600)

        #convert the frame (of the webcam) to gray)
        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
        mask = cv2.erode(gray, None, iterations=2)
        mask = cv2.dilate(mask, None, iterations=2)

        # detecting the faces
        faces = face_cascade.detectMultiScale(gray, scaleFactor=1.1, minNeighbors=5, minSize=(30, 30), flags=cv2.CASCADE_SCALE_IMAGE)

        # Draw a rectangle around the faces
        for (x, y, w, h) in faces:
            cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
            x_imagem = x + (w/2)
            y_imagem = y + (h/2)

            cv2.circle(frame, (x+(w/2), y+(h/2)), 5, (0,0,255), -1)
            #600 x 450;

            cmd_vel_msg = Twist()
            if(x_imagem > 200 and x_imagem < 400):
                rospy.loginfo("CENTER")

            elif(x_imagem < 200):  #WHERE IT CRASH
                rospy.loginfo("LEFT")
                cmd_vel_msg.linear.x = 0.0
                cmd_vel_msg.linear.y = -0.3
                cmd_vel_msg.linear.z = 0.0
                pub_cmd_vel.publish(cmd_vel_msg)

            elif(x_imagem > 400): #WHERE IT CRASH
                rospy.loginfo("RIGHT")
                cmd_vel_msg.linear.x = 0.0
                cmd_vel_msg.linear.y = 0.3
                cmd_vel_msg.linear.z = 0.0
                pub_cmd_vel.publish(cmd_vel_msg)

         # Display the resulting frame

        cv2.imshow('Video', frame)
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

# When everything is done, release the capture
    video_capture.release()
    cv2.destroyAllWindows()

每当我的脸转向 windows 的左侧或右侧时，程序就会崩溃。我标记了崩溃的地方。终端中没有出现 ERRO MSG。

希望你能帮我，这次能说清楚！谢谢！

谢谢！

Answer 1

我终于成功了，我所做的是：

在函数中实例化发布者和 init_node 由 main
现在我的函数main只调用了人脸识别函数
删除rospy.spin()
创建一个新的 .py 来处理发布，就是那个 crashing 被用来发送到新的值 where 无人机必须起飞。

ROS ERROR: segmentation fault (core Dumped)

ROS ERROR: segmentation fault (core Dumped)

opencv

fault

ros