Azure-kinect-sensor-sdk: Error with DecodeMJPEGtoBGRA32: MJPEG decode failed: -1

[omartin2010]

Describe the bug
When I use the SDK, sometimes (pretty often since this morning), I get this error : MJPEG decode failed: -1

To Reproduce
I don't unfortunately have a clear repro. My problem occurs now very often, so in my project I can repro most of the time since this morning.

Expected behavior
I expect this to work like it did before.

Logs
I've enabled the info logging level.

[2020-04-20 16:29:59.465] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (343): find_libusb_device(). Container ID found: {107b61c6-b351-449a-63bd-03c8c35383ec}
[2020-04-20 16:29:59.466] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (224): populate_serialnumber(). Serial Number found 000211394812
[2020-04-20 16:29:59.576] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (343): find_libusb_device(). Container ID found: {107b61c6-b351-449a-63bd-03c8c35383ec}
[2020-04-20 16:29:59.577] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (224): populate_serialnumber(). Serial Number found 000211394812
[2020-04-20 16:29:59.605] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (225): ******************** Device Info ********************
[2020-04-20 16:29:59.605] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (226): K4A SDK version:     1.4.0
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (232): Serial Number:       000211394812
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (236): RGB Sensor Version:  1.6.108
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (239): Depth Sensor Version:1.6.79
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (242): Mic Array Version:   1.6.14
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (245): Sensor Config:       6109.7
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (248): Build type:          Release
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (253): Signature type:      MSFT
[2020-04-20 16:29:59.630] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth/depth.c (259): ****************************************************
[2020-04-20 16:30:00.631] [info] [t=43] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/dynlib/dynlib_linux.c (125): dynlib_find_symbol(). Depth Engine loaded /usr/lib/aarch64-linux-gnu/libk4a1.4/libdepthengine.so.2.0
[2020-04-20 16:30:00.631] [info] [t=43] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/deloader/deloader.cpp (51): verify_plugin(). Loaded Depth Engine version: 2.1.3
[2020-04-20 16:30:01.713] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (868): k4a_device_start_cameras(). Starting camera's with the following config.
[2020-04-20 16:30:01.713] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (869): k4a_device_start_cameras().     color_format:3
[2020-04-20 16:30:01.713] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (870): k4a_device_start_cameras().     color_resolution:1
[2020-04-20 16:30:01.713] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (871): k4a_device_start_cameras().     depth_mode:4
[2020-04-20 16:30:01.713] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (872): k4a_device_start_cameras().     camera_fps:1
[2020-04-20 16:30:01.713] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (873): k4a_device_start_cameras().     synchronized_images_only:1
[2020-04-20 16:30:01.713] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (874): k4a_device_start_cameras().     depth_delay_off_color_usec:0
[2020-04-20 16:30:01.714] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (875): k4a_device_start_cameras().     wired_sync_mode:0
[2020-04-20 16:30:01.714] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (876): k4a_device_start_cameras().     subordinate_delay_off_master_usec:0
[2020-04-20 16:30:01.714] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (877): k4a_device_start_cameras().     disable_streaming_indicator:0
[2020-04-20 16:30:04.258] [info] [t=1] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (916): k4a_device_start_cameras(). k4a_device_start_cameras started
[2020-04-20 16:30:04.539] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (277): capturesync_add_capture(). Dropped 2 depth captures waiting for time stamps to stabilize
[2020-04-20 16:30:04.571] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:    333611 type:Depth
[2020-04-20 16:30:05.002] [warning] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/dewrapper/dewrapper.c (278): depth_engine_thread(). Depth image processing is too slow at 1000ms (this may be transient).
[2020-04-20 16:30:06.241] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:06.381] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   2066877 type:Color
[2020-04-20 16:30:06.431] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   2200222 type:Color
[2020-04-20 16:30:06.478] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 2 captures from queue.
[2020-04-20 16:30:07.179] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:07.242] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   2933533 type:Color
[2020-04-20 16:30:07.267] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   3000255 type:Depth
[2020-04-20 16:30:07.320] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:07.910] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   3666877 type:Color
[2020-04-20 16:30:08.039] [warning] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/dewrapper/dewrapper.c (278): depth_engine_thread(). Depth image processing is too slow at 1000ms (this may be transient).
[2020-04-20 16:30:08.107] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   3866866 type:Color
[2020-04-20 16:30:09.098] [warning] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/dewrapper/dewrapper.c (278): depth_engine_thread(). Depth image processing is too slow at 1000ms (this may be transient).
[2020-04-20 16:30:09.190] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   4400200 type:Color
[2020-04-20 16:30:09.388] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 11 captures from queue.
[2020-04-20 16:30:09.619] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   4466877 type:Color
[2020-04-20 16:30:09.631] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   4533611 type:Depth
[2020-04-20 16:30:09.631] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   4866944 type:Depth
[2020-04-20 16:30:09.633] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   5400255 type:Depth
[2020-04-20 16:30:09.810] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:10.029] [warning] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/dewrapper/dewrapper.c (278): depth_engine_thread(). Depth image processing is too slow at 1000ms (this may be transient).
[2020-04-20 16:30:10.310] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   6066944 type:Depth
[2020-04-20 16:30:10.376] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:10.513] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   6266866 type:Color
[2020-04-20 16:30:10.591] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:10.727] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:10.892] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:11.047] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:11.153] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   6933533 type:Color
[2020-04-20 16:30:11.168] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:11.581] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:12.007] [info] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (170): queue_pop(). Queue "Queue_capture" dropped oldest 1 captures from queue.
[2020-04-20 16:30:12.132] [error] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color/uvc_camerareader.cpp (1300): DecodeMJPEGtoBGRA32(). MJPEG decode failed: -1
[2020-04-20 16:30:12.132] [warning] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (200): capturesync_add_capture(). Capture Error Detected, Color
[2020-04-20 16:30:12.132] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_capture" stopped, shutting down and notifying consumers.
[2020-04-20 16:30:12.132] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_depth" stopped, shutting down and notifying consumers.
[2020-04-20 16:30:12.132] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_color" stopped, shutting down and notifying consumers.
[2020-04-20 16:30:12.132] [warning] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color/color.cpp (123): color_capture_available(). A streaming color transfer failed
[2020-04-20 16:30:12.144] [info] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   7866877 type:Color
[2020-04-20 16:30:12.144] [error] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_color" was popped in a disabled state.
[2020-04-20 16:30:12.186] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   7933611 type:Depth
[2020-04-20 16:30:12.187] [error] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_depth" was popped in a disabled state.
[2020-04-20 16:30:12.205] [error] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_capture" was popped in a disabled state.
[2020-04-20 16:30:12.205] [error] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (269): capturesync_get_capture(device->capturesync, capture_handle, timeout_in_ms) returned failure in k4a_device_get_capture()
[2020-04-20 16:30:12.214] [warning] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (202): queue_push_w_dropped(). Capture pushed into disabled queue.
[2020-04-20 16:30:12.214] [error] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_color" was popped in a disabled state.
[2020-04-20 16:30:12.225] [error] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color/uvc_camerareader.cpp (1300): DecodeMJPEGtoBGRA32(). MJPEG decode failed: -1
[2020-04-20 16:30:12.225] [warning] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (200): capturesync_add_capture(). Capture Error Detected, Color
[2020-04-20 16:30:12.225] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_capture" stopped, shutting down and notifying consumers.
[2020-04-20 16:30:12.225] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_depth" stopped, shutting down and notifying consumers.
[2020-04-20 16:30:12.225] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_color" stopped, shutting down and notifying consumers.
[2020-04-20 16:30:12.225] [warning] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color/color.cpp (123): color_capture_available(). A streaming color transfer failed
[2020-04-20 16:30:12.287] [info] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   8066944 type:Depth
[2020-04-20 16:30:12.288] [error] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_depth" was popped in a disabled state.
[2020-04-20 16:30:12.305] [warning] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (202): queue_push_w_dropped(). Capture pushed into disabled queue.
[2020-04-20 16:30:12.306] [error] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_color" was popped in a disabled state.
[2020-04-20 16:30:12.369] [warning] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (202): queue_push_w_dropped(). Capture pushed into disabled queue.
[2020-04-20 16:30:12.369] [error] [t=45] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_color" was popped in a disabled state.
[2020-04-20 16:30:12.492] [warning] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (202): queue_push_w_dropped(). Capture pushed into disabled queue.
[2020-04-20 16:30:12.492] [error] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_color" was popped in a disabled state.
[2020-04-20 16:30:12.507] [warning] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (202): queue_push_w_dropped(). Capture pushed into disabled queue.
[2020-04-20 16:30:12.507] [error] [t=50] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_color" was popped in a disabled state.
[2020-04-20 16:30:12.520] [error] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_capture" was popped in a disabled state.
[2020-04-20 16:30:12.520] [error] [t=52] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (269): capturesync_get_capture(device->capturesync, capture_handle, timeout_in_ms) returned failure in k4a_device_get_capture()

I was able to capture some logs of the issue at the trace level :

[2020-04-20 16:41:33.550] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f24001370
[2020-04-20 16:41:33.550] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f24001db0
[2020-04-20 16:41:33.558] [trace] [t=32] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_create(). Created   k4a_capture_t 0x7f240015a0
[2020-04-20 16:41:33.562] [trace] [t=32] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f24001db0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f0c3cb700
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_create(). Created   k4a_capture_t 0x7f0c3cbfb0
[2020-04-20 16:41:33.573] [info] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   9000200 type:Color
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c3cb700
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f0c3cbfb0
[2020-04-20 16:41:33.573] [error] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color/uvc_camerareader.cpp (1300): DecodeMJPEGtoBGRA32(). MJPEG decode failed: -1
[2020-04-20 16:41:33.573] [warning] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (200): capturesync_add_capture(). Capture Error Detected, Color
[2020-04-20 16:41:33.573] [info] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_capture" stopped, shutting down and notifying consumers.
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c1a2ee0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d94d350
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d94d3d0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d94d2e0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c3cb870
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83ee40
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83eb80
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d94d930
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c3cb5d0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d840c10
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83e3a0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d83f800
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c3cbeb0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83e490
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83e510
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d83e420
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c0462a0
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d94d220
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83f340
[2020-04-20 16:41:33.573] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d83ea40
[2020-04-20 16:41:33.577] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c3cc0d0
[2020-04-20 16:41:33.577] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83f3c0
[2020-04-20 16:41:33.577] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d840b20
[2020-04-20 16:41:33.577] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d83f4b0
[2020-04-20 16:41:33.577] [info] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_depth" stopped, shutting down and notifying consumers.
[2020-04-20 16:41:33.577] [info] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (300): queue_stop(). Queue "Queue_color" stopped, shutting down and notifying consumers.
[2020-04-20 16:41:33.577] [warning] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/color/color.cpp (123): color_capture_available(). A streaming color transfer failed
[2020-04-20 16:41:33.578] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_create(). Created   k4a_capture_t 0x7f2d83f4b0
[2020-04-20 16:41:33.578] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f2d840b20
[2020-04-20 16:41:33.578] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f2d840c10
[2020-04-20 16:41:33.578] [warning] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (202): queue_push_w_dropped(). Capture pushed into disabled queue.
[2020-04-20 16:41:33.578] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d840b20
[2020-04-20 16:41:33.578] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d840c10
[2020-04-20 16:41:33.579] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d83f4b0
[2020-04-20 16:41:33.579] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f240015a0
[2020-04-20 16:41:33.579] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f24001c50
[2020-04-20 16:41:33.587] [trace] [t=35] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83edc0
[2020-04-20 16:41:33.587] [trace] [t=35] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83f100
[2020-04-20 16:41:33.587] [trace] [t=35] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d94d8c0
[2020-04-20 16:41:33.587] [trace] [t=35] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_create(). Created   k4a_capture_t 0x7f1827ef10
[2020-04-20 16:41:33.587] [error] [t=35] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_capture" was popped in a disabled state.
[2020-04-20 16:41:33.597] [error] [t=35] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (269): capturesync_get_capture(device->capturesync, capture_handle, timeout_in_ms) returned failure in k4a_device_get_capture()
[2020-04-20 16:41:33.625] [trace] [t=32] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_create(). Created   k4a_capture_t 0x7f240015a0
[2020-04-20 16:41:33.625] [trace] [t=32] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f24001c50
[2020-04-20 16:41:33.645] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f0c3cb700
[2020-04-20 16:41:33.645] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_create(). Created   k4a_capture_t 0x7f0c1a2ee0
[2020-04-20 16:41:33.645] [info] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/capturesync/capturesync.c (86): drop_sample(). capturesync_drop, Dropping sample TS:   9066933 type:Depth
[2020-04-20 16:41:33.645] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d94d840
[2020-04-20 16:41:33.645] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d840ba0
[2020-04-20 16:41:33.648] [trace] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83f900
[2020-04-20 16:41:33.648] [error] [t=33] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_depth" was popped in a disabled state.
[2020-04-20 16:41:33.648] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_create(). Created   k4a_capture_t 0x7f2d83f4b0
[2020-04-20 16:41:33.648] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f2d83f900
[2020-04-20 16:41:33.648] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_create(). Created   k4a_image_t 0x7f2d83eb80
[2020-04-20 16:41:33.648] [warning] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (202): queue_push_w_dropped(). Capture pushed into disabled queue.
[2020-04-20 16:41:33.648] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f0c1a2ee0
[2020-04-20 16:41:33.648] [error] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/queue/queue.c (112): queue_pop(). Queue "Queue_color" was popped in a disabled state.
[2020-04-20 16:41:33.648] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f0c3cb700
[2020-04-20 16:41:33.649] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83f900
[2020-04-20 16:41:33.649] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f2d83eb80
[2020-04-20 16:41:33.649] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f2d83f4b0
[2020-04-20 16:41:33.649] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/allocator/allocator.c (118): k4a_capture_t_destroy(). Destroyed k4a_capture_t 0x7f240015a0
[2020-04-20 16:41:33.649] [trace] [t=30] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_destroy(). Destroyed k4a_image_t 0x7f24001db0

Screenshots
None

Desktop (please complete the following information):

• OS with Version: Ubuntu 18.04.4 LTS
• SDK Version: 1.4
• Firmware version:

Device Serial Number: 000211394812
Current Firmware Versions:
  RGB camera firmware:      1.6.108
  Depth camera firmware:    1.6.79
  Depth config file:        6109.7
  Audio firmware:           1.6.14
  Build Config:             Production
  Certificate Type:         Microsoft

Additional context
I'm using this with the develop branch of the k4a python package found here. Not sure this has a link to it as it worked for some time and then stopped working without the wrapper changing, nor the underlying SDK changing. I've updated the firmware and SDK from internal alpha to the versions on the package repo (this is AMD64) and both docker images I have do repro the issue.

[omartin2010]

Any chance this can be related to memory exhaustion? I'm noticing some warnings outside of this specific docker container that my code may be not releasing memory properly... Just a thought.

[wes-b]

This means the format of the image being decoded is corrupt. It either happens at the firmware level being read off the camera sensor or via memory corruption in the application. USB CRC's the data, so it is highly unlikely the issue happen there.

Dup of #926

[omartin2010]

I’ll try to narrow get a repro. On the jetson, gpu memory is shared with main memory and I suspect this might be related... I’m retraining a smaller model to deploy on the jetson so that more ram is available to this container. Even if you limit ram available to the container, as I see on this platform, TensorFlow seems to see the full GPU memory available to it... without respect to the limit set in docker.

[wes-b]

This issue was also recently raised here: https://github.com/microsoft/Azure_Kinect_ROS_Driver/issues/125

I have been able to repro this on a machine with 3 cameras, K4AViewer, 2160P, BGRA, 1.6.110079014 firmware. Frame rate was reported to be about 4FPS while running at 30.

Need to investigate if libjpeg-turbo has any fixes to this code.

Issue happens as PC becomes more CPU bound.

100% work around is to avoid BGRA32 format.
Using BGRA32 with lower resolution reduces the chance of hitting this.

[omartin2010]

I've noticed that higher CPU usage tends to repro more often. And higher memory. I've limited GPU memory available to tensorflow on the other container so that the main memory (on Jetson TX2 at least, main memory is shared with GPU memory) is not starved and it seems to improve. I will investigate using other formats - need to modify the underlying python binding. I'm using relatively 720P, much lower than 2160p and a single camera. But the Jetson is not super powerful. If required - I'm internal - I can provide some docker containers to repro (two, one is the app itself and the other is the model serving part - which consumes GPU/shared memory).

[wes-b]

@carcormir from https://github.com/microsoft/Azure_Kinect_ROS_Driver/issues/125

Hi @wes-b, sorry to bother you again but we are really trying to solve this issue since soon it will interfere with our workflow.

As mentioned in one of my comments, the error comes from line 1288 in uvc_camerareader.cpp. In that code, the status of the decompression is only valid if it is 0. Otherwise it will return an error with no further checking.
In this issue Cannot open MJPEG image coming from Camera

157 they mention that tjDecompress2 may return -1 if there is an error or a warning. They suggest to use a function tjGetErrorCode() to check if the error was a result of a warning or a fatal error.

>

I would suggest you to investigate if it is possible to implement this in the SDK since the error that I am getting could potentially be a warning from tjDecompress2. From the external libraries that are used in the SDK, I can see that tjGetErrorCode() is available.

There are two things we can do to address this. The first is as you suggest, we can decode the error to better understand what is happening, we should definitely not be failing if a warning is generated.

Second, I was able to repro the issue on Ubuntu AMD64, which happens when I start or stop a camera when there are 2 already running. I can repro this with any of the 4 color formats. So this leads me to believe that the host PC is falling behind in reading frames from the camera. When the camera runs out of resources it is forced to drop the frame actively being copied to the host. The host doesn't know the exact image size for MJPEG, so the SDK can't know the image is incomplete until it is decoded with tjDecompress2. I believe we just need to drop the frame in this situation and carry on instead of erroring out.

I can't say when a fix for this will be ready, but we are happy to have help on this if someone wants to submit a PR.

[RoseFlunder]

I believe we just need to drop the frame in this situation and carry on instead of erroring out.

Maybe print some kind of warning in the logs or something? I think the user should know that the host PC can't keep up with reading the frames if that would be the case? If so, how could this be solved without using addtional PCs? Is this a bottleneck for a single usb host controller setup and can be solved by adding additional usb controllers via PCI Express cards or is the CPU the bottleneck because a thread maxes out a single core or something?

[carcormir]

Hi @RoseFlunder,

I tried to use an additional USB card with 4 extra independent controllers (this one) and I still get the same issue.
These are the specs of my PC and I would assume it should be powerful enough to handle everything, but maybe I am wrong.
PC specs:
Processor: AMD® Ryzen threadripper 2970wx 24-core processor × 48
2 GPUs: GeForce RTX 2080 Ti/PCIe/SSE2
Motherboard: ASRock x399 Taichi
Ram: 64Gb

[omartin2010]

I'm seeing the issue on a much less powered, NVIDIA Jetson TX2, and that's with a single unit. I wouldn't mind skipping frames for my particular use case, and seeing the warning being raised is ok.

[carcormir]

Hi @wes-b ,
I have tried the version with the fix #1194 and 3 cameras connected.
Everything seems to be working as expected after the fix. Thanks for being so fast!

After running the three instances for a few minutes I get a different error (see log file below)

This is the error
[ error ] : replace_sample(). capturesync_drop, releasing capture early due to full queue TS: 326682755 type:Depth

It seems like (from the log file) that my GPU is not working hard enough. However my hardware consists of 2 GPUs GeForce RTX 2080 Ti/PCIe/SSE2, which I assume should do the job of keeping the processing under 33ms as you mentioned in #1112

Any clue of why this could be happening? If you think it makes sense, you could open a new issue from this comment since it is not related to #1187 any more.

test_1_camera_k4a.log

[wes-b]

Great new on the fix, thank you for the confirmation! Can you open a new bug on this:

After running the three instances for a few minutes I get a different error (see log file below)

This is the error
[ error ] : replace_sample(). capturesync_drop, releasing capture early due to full queue TS: 326682755 type:Depth

It seems like (from the log file) that my GPU is not working hard enough. However my hardware consists of 2 GPUs GeForce RTX 2080 Ti/PCIe/SSE2, which I assume should do the job of keeping the processing under 33ms as you mentioned in #1112

Any clue of why this could be happening? If you think it makes sense, you could open a new issue from this comment since it is not related to #1187 any more.

test_1_camera_k4a.log

[knat]

It's easy to convert YUY2 image to RGB image, just a few lines of code. See https://docs.microsoft.com/en-us/windows/win32/medfound/recommended-8-bit-yuv-formats-for-video-rendering#converting-8-bit-yuv-to-rgb888