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

[Dženan Zukić]

I forgot to mention that this stems from using vtkLandmarkTransform.

2012/1/31 Dženan Zukić <dzenanz at gmail.com>

> 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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