[Kwiver-users] MapTK issues on Windows
Michael Rosen
michael.rosen at gmail.com
Wed Oct 14 09:13:41 EDT 2015
Presentation and test data look great. Sadly, it's not working for me on
Windows. maptk_track_features posts an AV. Can you provide some insight
into what's wrong?
Attempting to follow along with the example, I ran this:
C:\dev\cvpr2015-opensfm-master\Exercises\maptk>C:\dev\maptk\bin\maptk_track_features.exe
-c clif_track.conf
I think the debug spew below looks ok:
[DEBUG][maptk::algorithm_plugin_manager::register_plugins] Dynamically
loading plugin impls
[DEBUG][maptk::algorithm_plugin_manager::impl::load_from_search_paths]
Loading plugins in search paths
[DEBUG][maptk::algorithm_plugin_manager::impl::load_modules_in_directory]
Loading modules in directory: "C:/dev/maptk/lib/maptk"
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module]
Starting plug-in interfacing for module file: "C:/dev/maptk/lib
/maptk\maptk_core_plugin.dll"
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module] Loaded
module: 73EE0000
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module]
Looking for algorithm impl registration function: private_regis
ter_algo_impls
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module] ->
returned function address: 73EE1163
[DEBUG][maptk::Implementation Registration] Registering algorithm
implementations from module 'maptk_core'
[DEBUG][maptk::registrar] Registering algo implementation
'close_loops:bad_frames_only' for def type 'close_loops'
[DEBUG][maptk::registrar] Registering algo implementation 'bad_frames_only'
for def type 'close_loops'
[DEBUG][maptk::registrar] Registering algo implementation
'close_loops:multi_method' for def type 'close_loops'
[DEBUG][maptk::registrar] Registering algo implementation 'multi_method'
for def type 'close_loops'
[DEBUG][maptk::registrar] Registering algo implementation
'compute_ref_homography:core' for def type 'compute_ref_homography'
[DEBUG][maptk::registrar] Registering algo implementation 'core' for def
type 'compute_ref_homography'
[DEBUG][maptk::registrar] Registering algo implementation
'convert_image:bypass' for def type 'convert_image'
[DEBUG][maptk::registrar] Registering algo implementation 'bypass' for def
type 'convert_image'
[DEBUG][maptk::registrar] Registering algo implementation
'filter_features:magnitude' for def type 'filter_features'
[DEBUG][maptk::registrar] Registering algo implementation 'magnitude' for
def type 'filter_features'
[DEBUG][maptk::registrar] Registering algo implementation
'bundle_adjust:hierarchical' for def type 'bundle_adjust'
[DEBUG][maptk::registrar] Registering algo implementation 'hierarchical'
for def type 'bundle_adjust'
[DEBUG][maptk::registrar] Registering algo implementation
'match_features:homography_guided' for def type 'match_features'
[DEBUG][maptk::registrar] Registering algo implementation
'homography_guided' for def type 'match_features'
[DEBUG][maptk::registrar] Registering algo implementation
'track_features:core' for def type 'track_features'
[DEBUG][maptk::registrar] Registering algo implementation 'core' for def
type 'track_features'
[DEBUG][maptk::algorithm_plugin_interface_macros::REGISTRATION_SUMMARY]
Registered 8 of 8 algorithms
(@C:\dev\maptk\maptk\plugins\core\register_algorithms.cxx)
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module] ->
Successfully called registration func
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module]
Starting plug-in interfacing for module file: "C:/dev/maptk/lib
/maptk\maptk_ocv_plugin.dll"
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module] Loaded
module: 73EA0000
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module]
Looking for algorithm impl registration function: private_regis
ter_algo_impls
[DEBUG][maptk::algorithm_plugin_manager::impl::register_from_module] ->
returned function address: 73EA1163
[DEBUG][maptk::Implementation Registration] Registering algorithm
implementations from module 'maptk_ocv'
[DEBUG][maptk::registrar] Registering algo implementation
'analyze_tracks:ocv' for def type 'analyze_tracks'
[DEBUG][maptk::registrar] Registering algo implementation 'ocv' for def
type 'analyze_tracks'
But then right after that, I get an Access Violation with this call stack.
What's happening?
msvcr120.dll!memchr(unsigned char * buf, unsigned char chr, unsigned long
cnt) Line 101 Unknown
> opencv_features2d249.dll!std::basic_string<char,std::char_traits<char>,std::allocator<char>
>::find(const char * _Ptr, unsigned int _Off, unsigned int _Count) Line 1908
C++
opencv_features2d249.dll!cv::FeatureDetector::create(const
std::basic_string<char,std::char_traits<char>,std::allocator<char> > &
detectorType) Line 93 C++
maptk_ocv.dll!maptk::ocv::detect_features::priv::default_detector() Line
76 C++
maptk_ocv.dll!maptk::ocv::detect_features::priv::priv() Line 63 C++
maptk_ocv.dll!maptk::ocv::detect_features::detect_features() Line 94 C++
maptk_ocv.dll!maptk::algo::algorithm_impl<maptk::ocv::detect_features,maptk::algo::detect_features>::register_self(maptk::registrar
& reg) Line 370 C++
maptk_ocv.dll!maptk::ocv::register_algorithms(maptk::registrar & reg)
Line 70 C++
maptk_ocv_plugin.dll!register_algo_impls(maptk::registrar & reg) Line 44
C++
maptk_ocv_plugin.dll!private_register_algo_impls(maptk::registrar & reg)
Line 59 C++
maptk_apm.dll!maptk::algorithm_plugin_manager::impl::register_from_module(boost::filesystem::path
module_path) Line 293 C++
maptk_apm.dll!maptk::algorithm_plugin_manager::impl::load_modules_in_directory(boost::filesystem::path
dir_path,
std::basic_string<char,std::char_traits<char>,std::allocator<char> > name)
Line 198 C++
maptk_apm.dll!maptk::algorithm_plugin_manager::impl::load_from_search_paths(std::basic_string<char,std::char_traits<char>,std::allocator<char>
> name) Line 146 C++
maptk_apm.dll!maptk::algorithm_plugin_manager::register_plugins(std::basic_string<char,std::char_traits<char>,std::allocator<char>
> name) Line 409 C++
maptk_track_features.exe!maptk_main(int argc, const char * * argv) Line
236 C++
maptk_track_features.exe!main(int argc, const char * * argv) Line 489 C++
maptk_track_features.exe!__tmainCRTStartup() Line 626 C
maptk_track_features.exe!mainCRTStartup() Line 466 C
The offending code seems to be this:
/// create the default feature detector
static cv::Ptr<cv::FeatureDetector> default_detector()
{
cv::Ptr<cv::FeatureDetector> det;
// try the SURF detector first
det = cv::FeatureDetector::create("SURF"); //////// Access Violation
here.
if( !det )
{
// if SURF is not available (nonfree not built) use ORB
det = cv::FeatureDetector::create("ORB");
}
return det;
}
On Tue, Oct 6, 2015 at 2:47 PM, Michael Rosen <michael.rosen at gmail.com>
wrote:
> Thanks very much. This looks really helpful. I'll give it a spin and let
> you know how it goes.
>
> msr
>
> On Tue, Oct 6, 2015 at 2:01 PM, Matthew Leotta <matt.leotta at kitware.com>
> wrote:
>
>>
>> On Oct 6, 2015, at 3:38 PM, Michael Rosen <michael.rosen at gmail.com>
>> wrote:
>>
>> Thanks for this. It compiles and the assert is gone.
>>
>> To be clear, here's what I did:
>>
>> git clone https://github.com/Kitware/maptk.git
>> cd .\maptk
>> git fetch origin pull/88/head:dev/camera-pass-by-reference
>> git checkout dev/camera-pass-by-reference
>> cmake -G "NMake Makefiles" -DBOOST_ROOT=C:\dev\fletch\install
>> -DEIGEN3_INCLUDE_DIR="C:\Program Files (x86)\Eigen\include\eigen3"
>> nmake
>> nmake install
>>
>>
>>
>> Interesting, so you didn’t need to do any of the defines to disable byte
>> alignment for Eigen? Were you building master or release before?
>>
>> By the way, I have now merged that dev/camera-pass-by-reference branch
>> into both the release and master branches of MAP-Tk, so you should be able
>> to use one of the primary branches again.
>>
>>
>>
>> Is there a simple workflow you can pass that will demonstrate use of some
>> of the utilities. For example, suppose I have a collection of overlapping
>> images, what can I do with them?
>>
>>
>> I’ve been meaning to write up a tutorial on this, but haven’t gotten to
>> it yet. Part of this is because there are big API changes coming soon as
>> well as improvements in algorithms. There is a bunch of stuff building up
>> that I can’t release yet until I get approval from AFRL. A preview of
>> those changes is on the kwiver-integration branch. We are pulling a lot of
>> core guts of MAP-Tk out into a new repository named VITAL (
>> https://github.com/kitware/vital) that is shared across KWIVER
>> projects. I don’t recommend building that on Windows just yet. But Keith
>> Fieldhouse is working on a KWIVER “super build” that will use CMake to make
>> the various projects build together easily.
>>
>> Anyway, the best I can do at this point is to point you to a tutorial I
>> gave back in June at the CVPR conference:
>>
>> http://www.kitware.com/cvpr2015-tutorial.html
>>
>> This used a version of MAP-Tk similar to the current release branch.
>> There are examples for applying MAP-Tk to a sample dataset. A Linux VM
>> image is provided with all the software and data pre-installed, but you can
>> also get the config files here:
>>
>> https://github.com/mleotta/cvpr2015-opensfm/tree/master/Exercises/maptk
>>
>> and the sample data here:
>>
>> https://github.com/mleotta/cvpr2015-opensfm/tree/master/Data/CLIF_2007
>>
>> and slides explaining what to do here:
>>
>>
>> http://midas3.kitware.com/midas/download/item/317119/Hands_on_with_MAP-Tk.pdf
>>
>> FYI, MAP-Tk is (for the moment) a bit specialized to aerial imagery, so
>> it might not work well out of the box on arbitrary images.
>>
>> Good Luck,
>> Matt
>>
>>
>>
>>
>> msr
>>
>> On Tue, Oct 6, 2015 at 10:36 AM, Matthew Leotta <matt.leotta at kitware.com>
>> wrote:
>>
>>> Michael,
>>>
>>> Thank you for reporting this issue. I’ll be upfront and warn you that
>>> I’m not a Windows developer and MAP-Tk is currently better tested on Linux
>>> and Mac. That said, we are working toward getting things better running on
>>> Windows more reliably.
>>>
>>> In this case, the issues are related to Eigen byte-alignment issues as
>>> explained on the Eigen website linked from your error message:
>>>
>>>
>>> http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html
>>>
>>> I have read this page before, and expected I would need to make changes
>>> at some point to work around these issues, but until now I had not come
>>> across a compiler that exhibited these symptoms. We should probably try to
>>> get a VisualStudio 2012 build up on our dashboard so I can work through
>>> those issues properly. I expect that will take some time. A shorter term
>>> solution is to try to disable alignment in your build. Can you try the
>>> solutions described at the bottom of the page at the above URL? In the "I
>>> don't care about vectorization, how do I get rid of that stuff?” section it
>>> suggests defining some macros to disable alignment. Let me know if that
>>> works.
>>>
>>> In the meantime, I can at least work around that pass-by-value build
>>> issue. That function is pass-by-value because we intentionally want to
>>> make a local copy of the camera object to modify. However, I can
>>> explicitly make that copy inside the function instead. I’ve done this on
>>> the release branch of MAP-Tk and made a pull request (
>>> https://github.com/Kitware/maptk/pull/88). Can you try to build this
>>> branch and verify that it at least builds for you?
>>>
>>> git fetch origin pull/88/head:dev/camera-pass-by-reference
>>> git checkout dev/camera-pass-by-reference
>>>
>>> If that works, I’ll merge this change into the release and master
>>> branches. Also let me know if the solution on the Eigen page helps.
>>>
>>> —Matt
>>>
>>>
>>> On Oct 5, 2015, at 1:24 PM, Michael Rosen <michael.rosen at gmail.com>
>>> wrote:
>>>
>>> Hello Kwiver-folk,
>>>
>>> I'm building MapTK on Windows 7/64 using VStudio 12 and having two
>>> immediate difficulties: a compilation problem and a runtime assert.
>>>
>>> MapTK is version 0.6.0, Eigen is 3.2.6
>>>
>>> I've worked through getting Boost and Eigen built. When I compile
>>> maptk, the first problem is this:
>>>
>>> [ 98%] Building CXX object
>>> tools/CMakeFiles/maptk_pos2krtd.dir/pos2krtd.cxx.obj
>>>
>>> pos2krtd.cxx
>>>
>>> C:\dev\maptk\tools\pos2krtd.cxx(220) : error C2719: 'base_camera':
>>> formal parameter with __declspec(align('16')) won't
>>>
>>> be aligned
>>>
>>> C:\dev\maptk\tools\pos2krtd.cxx(238) : error C2719: 'base_camera':
>>> formal parameter with __declspec(align('16')) won't
>>>
>>> …
>>>
>>>
>>> I fixed these compilation errors by changing the signature of the
>>> offending function from pass-by-value to pass-by-reference:
>>>
>>>
>>> /// Convert a POS file to a KRTD file
>>>
>>> bool convert_pos2krtd(const maptk::path_t& pos_filename,
>>>
>>> const maptk::path_t& krtd_filename,
>>>
>>> maptk::local_geo_cs& cs,
>>>
>>> maptk::camera_d& base_camera, // msr. was
>>> pass-by-value
>>>
>>> maptk::rotation_d const& ins_rot_offset =
>>> maptk::rotation_d())
>>>
>>>
>>>
>>> That allows everything to compile and link. The next problem was that I
>>> got an Eigen Assert when I run any of the executables:
>>>
>>>
>>> C:\Program Files (x86)\MAPTK\bin>maptk_analyze_tracks.exe
>>>
>>> ...
>>>
>>> Assertion failed: (reinterpret_cast<size_t>(array) & 0xf) == 0 && "this
>>> assertion is explained here: " "http://eigen.tuxfamily.org/d
>>>
>>> ox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB
>>> PAGE !!! ****", file c:\program files (x86)\eigen\include\eigen
>>>
>>> 3\eigen\src/Core/DenseStorage.h, line 86
>>>
>>>
>>> The web page says that classes which contain certain Eigen data
>>> structures as members need to use the
>>>
>>> EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro to override the "new"
>>> operator so that those members will be 16-byte aligned. I've done that but
>>> am still seeing the assert.
>>>
>>>
>>> Can anyone offer insight into any of this?
>>>
>>>
>>> msr
>>>
>>>
>>> _______________________________________________
>>> Kwiver-users mailing list
>>> Kwiver-users at public.kitware.com
>>> http://public.kitware.com/mailman/listinfo/kwiver-users
>>>
>>>
>>>
>>
>>
>
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