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

[Dženan Zukić]

This is the end of the command line (there are a lot of /I and /D options
before):
/D "_MBCS" /Gm- /EHsc /MD /GS /fp:precise /Zc:wchar_t /Zc:forScope /GR
/Fp"Spine.dir\Release\Spine.pch" /Fa"Release" /Fo"Spine.dir\Release\"
/Fd"D:/Repo/Spine/Release/Spine.pdb" /Gd /TP /errorReport:queue
There are also "Additional options":  /Zm1000 /bigobj /bigobj

But this alone does not cause the Jacobi warning. It happens with one poly
model I use.

At the warning point, matrix "a" is usually full of NaNs:
-1.#QNAN -1.#QNAN -1.#QNAN -1.#QNAN
-1.#QNAN -1.#QNAN -1.#QNAN -1.#QNAN
-1.#QNAN -1.#QNAN -1.#QNAN -1.#QNAN
-1.#QNAN -1.#QNAN -1.#QNAN -1.#QNAN

Here is one offending matrix:
-20.432407408240863 -6.916861332864527 4.552990997176626 24.110079331569615
-6.916861332864527 -0.14227080645425705 -11.855738368063925
-17.76674202740249
4.552990997176626 -11.855738368063925 12.501563019018828 10.426774322765672
24.110079331569615 -17.76674202740249 10.426774322765672 8.0731151956762908

Here is another:
-20.908967195946744 -7.4695433223552188 4.3289567952431929
24.110079331569615
-7.4695433223552188 0.33428898125162654 -11.855738368063925
-17.990776229335921
4.3289567952431929 -11.855738368063925 12.978122806724711
10.979456312256364
24.110079331569615 -17.990776229335921 10.979456312256364
7.5965554079704081

Also, the numbers are different each time I run my program, with all the
conditions being identical.

2012/1/31 David Gobbi <david.gobbi at gmail.com>

> Thanks for the info.  Can you post your compiler optimization flags to
> the list?  There is definitely a problem with JacobiN that needs to be
> fixed.  The fix should be very easy to do if we can get a matrix that
> reliably causes JacobiN to fail when certain optimization flags are
> used, so if either of you can print out such a matrix (with all
> numbers printed with a precision of 20 digits), it would be a big
> help.
>
>  - David
>
>
> 2012/1/31 Dženan Zukić <dzenanz at gmail.com>:
> > I also saw this warning recently, from the block that "never gets
> called".
> > And it only happened in release version of my program.
> >
> > On Tue, Jan 31, 2012 at 00:48, Maarten Beek <beekmaarten at yahoo.com>
> wrote:
> >>
> >> 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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