[vtkusers] ICP Error: vtkMath::Jacobi: Error extracting eigenfunctions

[Maarten Beek]

Hi David,


Ai, seems these crashes are hard to get rid off....


I currently use VTK within Amira modules.

I changed the type of vtkPoints 
from the default VTK_FLOAT to VTK_DOUBLE when I convert an Amira object 
to a VTK object. This reduces the occurrences of the errors, but doesn't solve the issue.
(Ps: why is the default in vtkPoints still float, while everywhere else floats were changed into doubles a long while ago?)


I don't really know much about different optimizations, so I just copy-paste what I found in MSVS:

I build my VTK with:

/O2 /Ob2 /FD /EHsc /MD /Fo"vtkCommon.dir\Release\\" 
/Fd"G:\vtk-5.6.0\build_vs90_noQt\bin\Release/vtkCommon.pdb" /W4 /nologo 
/c /TP /errorReport:prompt/Zm 1000 and a couple of '/I'-s and '/D'-s


I build my Amira modules with:
/O2 /Ob1 /Oi /Oy /GF /FD /EHsc /MD /GS- /Gy /fp:fast /openmp 
/Fo"./../../obj/arch-Win64VC9-Optimize/GraphPackage/" 
/Fd"./../.././bin/arch-Win64VC9-Optimize/GraphPackage.pdb" /W3 /nologo 
/c /Zi /wd4068 /wd4305 /wd4018 /wd4244 /wd4800 /wd4275 /wd4251 
/errorReport:prompt and a couple of '/I'-s and '/D'-s

I am working on getting vtkMath::JacobiN to print the matrix in the 
if-loop that 'gets never called' using vtkGenericWarningMacro to avoid 
having to include Amira stuff. Having a hard time getting that to work. ( char* test = "hello";vtkGenericWarningMacro( test ); won't do the trick). Any suggestions?


Maarten


________________________________
 From: David Gobbi <david.gobbi at gmail.com>
To: Maarten Beek <beekmaarten at yahoo.com> 
Cc: VTK list <vtkusers at vtk.org> 
Sent: Monday, January 30, 2012 2:31:38 PM
Subject: Re: [vtkusers] ICP Error: vtkMath::Jacobi: Error extracting eigenfunctions
 
Hi Maarten,

I think there are two issues here, one is that vtkLandmarkTransform
should have a check as you have described, but another potentially
serious issue is that, as far as I understand it, JacobiN should never
fail.  I did a google search and found a message from 2002 by the
Numerical Recipes authors stating that the NR Jacobi code can become
numerically unstable due to certain compiler optimizations.  I'm
guessing that certain compiler optimizations could similarly make the
VTK Jacobi code become unstable.
http://www.nr.com/forum/showthread.php?p=4913

Can you provide info about your compiler/flags etc?  Also, is it
possible to get your code to print a matrix that causes JacobiN to
fail?

- David


On Mon, Jan 30, 2012 at 9:44 AM, Maarten Beek <beekmaarten at yahoo.com> wrote:
> Hi all,
>
> I get the following warning when using ICP:
>
> vtkMath::Jacobi: Error extracting eigenfunctions
>
> It comes from vtkMath::vtkJacobiN that calculates the eigenvalues, -vectors
> of a matrix.
> The function returns 0, when this error occurs (otherwise 1), but
> vtkLandmarkTransform doesn't check for the return value and thus uses
> undefined values for the eigenvalues, -vectors.
> This means my point set becomes invalid.
> I believe the way to avoid this error is to 'giggle' the coordinates a
> little when it happens, but how can I intervene when vtkLandmarkTransform
> stubbornly uses whatever values it gets from vtkMath::vtkJacobiN?
> Is there a way to intercept the error message?
>
> I also noticed that if I apply ICP on A and B1 resulting in the error
> message, applying ICP on A and B2 (loading the same data file that gives me
> B1) works fine. I don't see vtkMath::vtkJacobiN using a random number or
> doing something similar, which makes me believe the error message I get is
> due to floating point accuracy? Even more a reason to think that 'giggling'
> might work (if I were able to intervene before the invalid transform is
> applied to my data...)
>
> Thanks - Maarten
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