Orbbec Astra Pro locking up on terminate

Technical Support & Q&A
1

Hello! I have an issue with the Orbbec application not shutting down properly (Astra Pro, running on Windows 10, Visual Studio 2017). This happens even with examples that are provided with the SDK. It appears that the program hangs after calling astra::terminate(). Debugging shows that the code is waiting for release of sync objects perhaps, stuck in nvopencl.dll thread, ntdll.dll!_NtWaitForMultipleObjects@20() Unknown

The log doesn’t seem to provide any errors (just showing the last few lines on shutdown):

5326113 VERBOSE DeviceSensor XnSensorDepthStream.cpp 382 Shutting down USB depth read thread…
6291759 VERBOSE xnUSB XnUSBWin32.cpp 1477 Endpoint 0x81 bandwidth: 4539.88 KB/s
6302270 INFO DDK XnProperty.cpp 146 Property Depth.ActualReadData was changed to 0.
6302290 INFO DDK XnProperty.cpp 146 Property Depth.State was changed to 0.
6302813 VERBOSE DeviceSensor XnFirmwareStreams.cpp 261 Stream Depth released FW Stream Depth
6647229 INFO DDK XnDeviceBase.cpp 1024 Destroying stream ‘Depth’…
6647573 VERBOSE DDK XnDeviceBase.cpp 1051 ‘Depth’ stream destroyed.
6647744 INFO DDK XnDeviceBase.cpp 1024 Destroying stream ‘IR’…
6647798 VERBOSE DDK XnDeviceBase.cpp 1051 ‘IR’ stream destroyed.
6857276 VERBOSE DeviceSensor XnSensor.cpp 302 Shutting down Sensor commands.txt thread…
6857314 VERBOSE DDK XnProperty.cpp 71 Setting Firmware.Stream0Mode (5) to 0…
6860664 VERBOSE DDK XnProperty.cpp 96 Firmware.Stream0Mode (5) was successfully set.
6860687 VERBOSE DDK XnProperty.cpp 71 Setting Firmware.Stream1Mode (6) to 0…
6863697 VERBOSE DDK XnProperty.cpp 96 Firmware.Stream1Mode (6) was successfully set.
6863709 VERBOSE DDK XnProperty.cpp 71 Setting Firmware.Stream2Mode (7) to 0…
6865820 VERBOSE DDK XnProperty.cpp 96 Firmware.Stream2Mode (7) was successfully set.
6865849 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 250 Shutting down USB depth read thread…
6865872 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 260 Shutting down USB image read thread…
6865894 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 307 Device closed successfully
6865903 VERBOSE Scheduler XnScheduler.cpp 168 Shutting down Scheduler thread…
6867390 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 250 Shutting down USB depth read thread…
6867404 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 260 Shutting down USB image read thread…
6867410 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 307 Device closed successfully
6893434 VERBOSE OniContext OniContext.cpp 434 Shutdown: successful.

2

With the Astra Pro working under the ROS environment(Ubuntu 16.04), Same problem happened. Astra Pro is drivened by the astra_camera ros package and launched by the astra_launch package from orbbec github page. The problem happens now and then.