RViz crash with high-resolution map

[rotu]

RViz seems to have trouble rendering high-pixel count maps, causing a very reproducible crash.
Publishing the map in map_lores.zip (533x423 px, 230.3 kB) and viewing it in rviz2 works fine.
Publishing the map in map_hires.zip (861x661 px, 569.2 kB) and trying to view it in rviz2 causes a hard crash with the following error info:

ros2 launch openrover_demo rviz.launch.py 
[INFO] [launch]: All log files can be found below /home/snuc/.ros/log/2019-07-05-16-22-21-496956-rhea-15882
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [15913]
[rviz2-1] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[rviz2-1] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [rviz2]: Creating 1 swatches_
[rviz2-1] [ERROR] [rviz2]: InvalidParametersException: Stream size does not match calculated image size in Image::loadRawData at /opt/ros/master/build/rviz_ogre_vendor/ogre-master-ca665a6-prefix/src/ogre-master-ca665a6/OgreMain/src/OgreImage.cpp (line 283)
[rviz2-1] [ERROR] [rviz2]: Failed to create 1 swatches_
[rviz2-1] [INFO] [rviz2]: Creating 2 swatches_
[rviz2-1] [ERROR] [rviz2]: InvalidParametersException: Stream size does not match calculated image size in Image::loadRawData at /opt/ros/master/build/rviz_ogre_vendor/ogre-master-ca665a6-prefix/src/ogre-master-ca665a6/OgreMain/src/OgreImage.cpp (line 283)
[rviz2-1] [ERROR] [rviz2]: Failed to create 2 swatches_
[rviz2-1] [INFO] [rviz2]: Creating 4 swatches_
[rviz2-1] [ERROR] [rviz2]: InvalidParametersException: Stream size does not match calculated image size in Image::loadRawData at /opt/ros/master/build/rviz_ogre_vendor/ogre-master-ca665a6-prefix/src/ogre-master-ca665a6/OgreMain/src/OgreImage.cpp (line 283)
[rviz2-1] [ERROR] [rviz2]: Failed to create 4 swatches_
[rviz2-1] [INFO] [rviz2]: Creating 8 swatches_
[rviz2-1] [ERROR] [rviz2]: InvalidParametersException: Stream size does not match calculated image size in Image::loadRawData at /opt/ros/master/build/rviz_ogre_vendor/ogre-master-ca665a6-prefix/src/ogre-master-ca665a6/OgreMain/src/OgreImage.cpp (line 283)
[rviz2-1] [ERROR] [rviz2]: Failed to create 8 swatches_
[rviz2-1] [ERROR] [rviz2]: InvalidParametersException: Stream size does not match calculated image size in Image::loadRawData at /opt/ros/master/build/rviz_ogre_vendor/ogre-master-ca665a6-prefix/src/ogre-master-ca665a6/OgreMain/src/OgreImage.cpp (line 283)
[rviz2-1] terminate called after throwing an instance of 'Ogre::InvalidParametersException'
[rviz2-1]   what():  InvalidParametersException: Stream size does not match calculated image size in Image::loadRawData at /opt/ros/master/build/rviz_ogre_vendor/ogre-master-ca665a6-prefix/src/ogre-master-ca665a6/OgreMain/src/OgreImage.cpp (line 283)
[ERROR] [rviz2-1]: process has died [pid 15913, exit code -6, cmd '/opt/ros/master/install/lib/rviz2/rviz2 --display-config /home/snuc/ros2_ws/src/openrover/openrover_demo/config/default.rviz --fixed-frame map'].

This is on Ubuntu 18 with ROS2 built from master branch.

map_hires.zip
map_lores.zip

[rotu]

It seems to be related to the total image size, not the maximum dimension, as cropping either the width or height to 400px prevents the crash.

[Martin-Idel]

This is a non-obvious duplicate of #401. (previously linked to #394)

The root cause is a bug such that any swatch can only have at most 255*255 pixels and there can only be eight swatches in total.

If you have a source build available, you can try my fix below to check whether that solves everything for you!

[rotu]

@Martin-Idel awesome. I’m glad you understand this issue! Will try the PR.

[rotu]

Upon further reflection and research, I think (1) this has nothing to do with #394. (2) this is due to an errant static_cast<uint8_t> in Swatch::resetTexture accidentally introduced in #267.

ROS2:
https://github.com/ros2/rviz/blob/ros2/rviz_default_plugins/src/rviz_default_plugins/displays/map/swatch.cpp#L212
ROS1:
https://github.com/ros-visualization/rviz/blob/4b6c0f447159044bfaa633e140e6094b19516b02/src/rviz/default_plugin/map_display.cpp#L204

A swatch should be able to be more than 255 bits wide and high, but these dimensions are incorrectly truncated to a uint8_t instead of a uint16_t (aka ushort, for those of you following along in the code). This effectively limits each swatch to 255 bits in each dimension - it should be able to be bigger.

Edit: d'oh. It seems you're one step ahead of me. I only read PR #394, not PR #425.

[Martin-Idel]

That's also partly my fault - I first thought it'd be exactly the same issue and more swatches will indeed solve the problem. But as you say I then thought that a swatch should be able to hold more data and found the root cause.

EDIT: Argh, now I see, my original comment contained a link to #394 while it SHOULD have contained a link to #401 - I have no idea how that happened. Sorry for that confusion!