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Repository for OpenCV's extra modules
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dynafu opengl.cpp assertion error #2528

Open Cartucho opened 4 years ago

Cartucho commented 4 years ago
System information (version)
Detailed description

When using the function cv::dynafu::DynaFu::renderSurface I get the following error:

opencv/modules/core/src/opengl.cpp:359: error: (-215:Assertion failed) bufId_ != 0 in function 'Impl'

image

Steps to reproduce

I used as reference the test_dynafu.cpp file. And I used the following depth image in the opencv_extra: 1341846092.023879.png

Code to recreate this error:

#include <fstream>
#include "opencv2/opencv.hpp"
#include <opencv2/rgbd/dynafu.hpp>

int main(void)
{
  cv::Ptr<cv::dynafu::Params> params;
  params = cv::dynafu::Params::defaultParams();
  cv::Ptr<cv::dynafu::DynaFu> df = cv::dynafu::DynaFu::create(params);

  std::string depth_img_path = "../data/depth/1341846092.023879.png";
  cv::Mat currentDepth;
  currentDepth = cv::imread(depth_img_path, cv::IMREAD_ANYDEPTH);
  cv::imwrite("frame_0.png", currentDepth); // To check that depth image was loaded correctly

  df->update(currentDepth);

  cv::Mat renderedDepth;
  df->renderSurface(renderedDepth, cv::noArray(), cv::noArray());
}

If I comment out the line df->renderSurface(renderedDepth, cv::noArray(), cv::noArray()); the code runs fine. I also tried using the function cv::dynafu::DynaFu::getCloud and that one does not throw any error.

/cc @savuor @UnderscoreAsterisk

Cartucho commented 4 years ago

My compilation configuration

-- General configuration for OpenCV 4.3.0 =====================================
--   Version control:               4.3.0
-- 
--   Extra modules:
--     Location (extra):            /home/tribta/dev/OpenCV/opencv_contrib/modules
--     Version control (extra):     4.3.0
-- 
--   Platform:
--     Timestamp:                   2020-05-13T07:00:05Z
--     Host:                        Linux 4.15.0-96-generic x86_64
--     CMake:                       3.17.2
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               RELEASE
-- 
--   CPU/HW features:
--     Baseline:                    SSE SSE2 SSE3
--       requested:                 SSE3
--     Dispatched code generation:  SSE4_1 SSE4_2 FP16 AVX AVX2 AVX512_SKX
--       requested:                 SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX
--       SSE4_1 (16 files):         + SSSE3 SSE4_1
--       SSE4_2 (2 files):          + SSSE3 SSE4_1 POPCNT SSE4_2
--       FP16 (1 files):            + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX
--       AVX (5 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
--       AVX2 (30 files):           + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2
--       AVX512_SKX (6 files):      + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 AVX_512F AVX512_COMMON AVX512_SKX
-- 
--   C/C++:
--     Built as dynamic libs?:      YES
--     C++ standard:                11
--     C++ Compiler:                /usr/bin/c++  (ver 7.5.0)
--     C++ flags (Release):         -std=c++14   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -std=c++14   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
--     C Compiler:                  /usr/bin/cc
--     C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):      -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a   -Wl,--gc-sections -Wl,--as-needed  
--     Linker flags (Debug):        -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a   -Wl,--gc-sections -Wl,--as-needed  
--     ccache:                      NO
--     Precompiled headers:         NO
--     Extra dependencies:          dl m pthread rt /usr/lib/x86_64-linux-gnu/libGL.so /usr/lib/x86_64-linux-gnu/libGLU.so
--     3rdparty dependencies:
-- 
--   OpenCV modules:
--     To be built:                 alphamat aruco bgsegm bioinspired calib3d ccalib core cvv datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hdf hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor ml objdetect optflow phase_unwrapping photo plot python3 quality rapid reg rgbd saliency sfm shape stereo stitching structured_light superres surface_matching text tracking ts video videoio videostab viz xfeatures2d ximgproc xobjdetect xphoto
--     Disabled:                    python2 world
--     Disabled by dependency:      -
--     Unavailable:                 cnn_3dobj cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java js matlab ovis
--     Applications:                tests perf_tests examples apps
--     Documentation:               NO
--     Non-free algorithms:         YES
-- 
--   GUI: 
--     QT:                          YES (ver 5.5.1)
--       QT OpenGL support:         YES (Qt5::OpenGL 5.5.1)
--     GTK+:                        NO
--     OpenGL support:              YES (/usr/lib/x86_64-linux-gnu/libGL.so /usr/lib/x86_64-linux-gnu/libGLU.so)
--     VTK support:                 YES (ver 6.2.0)
-- 
--   Media I/O: 
--     ZLib:                        /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.8)
--     JPEG:                        /usr/lib/x86_64-linux-gnu/libjpeg.so (ver 80)
--     WEBP:                        /usr/lib/x86_64-linux-gnu/libwebp.so (ver encoder: 0x0202)
--     PNG:                         /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.2.54)
--     TIFF:                        /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 / 4.0.6)
--     JPEG 2000:                   /usr/lib/x86_64-linux-gnu/libjasper.so (ver 1.900.1)
--     OpenEXR:                     /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so (ver 2_2)
--     HDR:                         YES
--     SUNRASTER:                   YES
--     PXM:                         YES
--     PFM:                         YES
-- 
--   Video I/O:
--     DC1394:                      YES (2.2.4)
--     FFMPEG:                      YES
--       avcodec:                   YES (56.60.100)
--       avformat:                  YES (56.40.101)
--       avutil:                    YES (54.31.100)
--       swscale:                   YES (3.1.101)
--       avresample:                YES (2.1.0)
--     GStreamer:                   NO
--     v4l/v4l2:                    YES (linux/videodev2.h)
-- 
--   Parallel framework:            TBB (ver 4.4 interface 9002)
-- 
--   Trace:                         YES (with Intel ITT)
-- 
--   Other third-party libraries:
--     Intel IPP:                   2020.0.0 Gold [2020.0.0]
--            at:                   /home/tribta/dev/OpenCV/opencv/build/3rdparty/ippicv/ippicv_lnx/icv
--     Intel IPP IW:                sources (2020.0.0)
--               at:                /home/tribta/dev/OpenCV/opencv/build/3rdparty/ippicv/ippicv_lnx/iw
--     Lapack:                      NO
--     Eigen:                       YES (ver 3.2.92)
--     Custom HAL:                  NO
--     Protobuf:                    build (3.5.1)
-- 
--   OpenCL:                        YES (no extra features)
--     Include path:                /home/tribta/dev/OpenCV/opencv/3rdparty/include/opencl/1.2
--     Link libraries:              Dynamic load
-- 
--   Python 3:
--     Interpreter:                 /home/tribta/miniconda3/envs//opencv_build/bin/python (ver 3.7.7)
--     Libraries:                   /home/tribta/miniconda3/envs/opencv_build/lib/libpython3.7m.so (ver 3.7.7)
--     numpy:                       /home/tribta/miniconda3/envs/opencv_build/lib/python3.7/site-packages/numpy/core/include (ver 1.18.1)
--     install path:                lib/python3.7/site-packages/cv2/python-3.7
-- 
--   Python (for build):            /usr/bin/python2.7
-- 
--   Java:                          
--     ant:                         NO
--     JNI:                         NO
--     Java wrappers:               NO
--     Java tests:                  NO
-- 
--   Install to:                    /home/tribta/dev/OpenCV/installation/OpenCV-4.3.0
-- -----------------------------------------------------------------
PeterBowman commented 3 years ago

I'm getting the same error at 4.5.0.

CMake config ``` -- General configuration for OpenCV 4.5.0 ===================================== -- Version control: 4.5.0 -- -- Extra modules: -- Location (extra): /home/bartek/git/opencv_contrib/modules -- Version control (extra): 4.5.0 -- -- Platform: -- Timestamp: 2020-10-26T22:07:43Z -- Host: Linux 5.4.0-42-generic x86_64 -- CMake: 3.16.3 -- CMake generator: Unix Makefiles -- CMake build tool: /usr/bin/make -- Configuration: Release -- -- CPU/HW features: -- Baseline: SSE SSE2 SSE3 -- requested: SSE3 -- Dispatched code generation: SSE4_1 SSE4_2 FP16 AVX AVX2 AVX512_SKX -- requested: SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX -- SSE4_1 (15 files): + SSSE3 SSE4_1 -- SSE4_2 (1 files): + SSSE3 SSE4_1 POPCNT SSE4_2 -- FP16 (0 files): + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX -- AVX (4 files): + SSSE3 SSE4_1 POPCNT SSE4_2 AVX -- AVX2 (29 files): + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 -- AVX512_SKX (4 files): + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 AVX_512F AVX512_COMMON AVX512_SKX -- -- C/C++: -- Built as dynamic libs?: YES -- C++ standard: 11 -- C++ Compiler: /usr/bin/c++ (ver 9.3.0) -- C++ flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -fopenmp -O3 -DNDEBUG -DNDEBUG -- C++ flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -fopenmp -g -O0 -DDEBUG -D_DEBUG -- C Compiler: /usr/bin/cc -- C flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -msse -msse2 -msse3 -fvisibility=hidden -fopenmp -O3 -DNDEBUG -DNDEBUG -- C flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -msse -msse2 -msse3 -fvisibility=hidden -fopenmp -g -O0 -DDEBUG -D_DEBUG -- Linker flags (Release): -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a -Wl,--gc-sections -Wl,--as-needed -- Linker flags (Debug): -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a -Wl,--gc-sections -Wl,--as-needed -- ccache: NO -- Precompiled headers: NO -- Extra dependencies: m pthread /usr/lib/x86_64-linux-gnu/libGL.so /usr/lib/x86_64-linux-gnu/libGLU.so cudart_static dl rt nppc nppial nppicc nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cufft -L/usr/local/cuda-11.1/lib64 -L/usr/lib/x86_64-linux-gnu -- 3rdparty dependencies: -- -- OpenCV modules: -- To be built: alphamat aruco bgsegm bioinspired calib3d ccalib core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hdf hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot quality rapid reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking ts video videoio videostab viz xfeatures2d ximgproc xobjdetect xphoto -- Disabled: world -- Disabled by dependency: - -- Unavailable: cnn_3dobj cvv java js julia matlab ovis python2 python3 sfm -- Applications: examples apps -- Documentation: NO -- Non-free algorithms: YES -- -- GUI: -- GTK+: YES (ver 2.24.32) -- GThread : YES (ver 2.64.3) -- GtkGlExt: YES (ver 1.2.0) -- OpenGL support: YES (/usr/lib/x86_64-linux-gnu/libGL.so /usr/lib/x86_64-linux-gnu/libGLU.so) -- VTK support: YES (ver 7.1.1) -- -- Media I/O: -- ZLib: /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.11) -- JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so (ver 80) -- WEBP: /usr/lib/x86_64-linux-gnu/libwebp.so (ver encoder: 0x020e) -- PNG: /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.6.37) -- TIFF: /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 / 4.1.0) -- JPEG 2000: OpenJPEG (ver 2.3.1) -- OpenEXR: build (ver 2.3.0) -- HDR: YES -- SUNRASTER: YES -- PXM: YES -- PFM: YES -- -- Video I/O: -- DC1394: NO -- FFMPEG: YES -- avcodec: YES (58.54.100) -- avformat: YES (58.29.100) -- avutil: YES (56.31.100) -- swscale: YES (5.5.100) -- avresample: NO -- GStreamer: YES (1.16.2) -- v4l/v4l2: YES (linux/videodev2.h) -- Intel RealSense: YES (2.39.0) -- -- Parallel framework: OpenMP -- -- Trace: YES (with Intel ITT) -- -- Other third-party libraries: -- Intel IPP: 2020.0.0 Gold [2020.0.0] -- at: /home/bartek/git/opencv/build/3rdparty/ippicv/ippicv_lnx/icv -- Intel IPP IW: sources (2020.0.0) -- at: /home/bartek/git/opencv/build/3rdparty/ippicv/ippicv_lnx/iw -- Lapack: NO -- Eigen: YES (ver 3.3.7) -- Custom HAL: NO -- Protobuf: build (3.5.1) -- -- NVIDIA CUDA: YES (ver 11.1, CUFFT CUBLAS) -- NVIDIA GPU arch: 35 37 50 52 60 61 70 75 80 86 -- NVIDIA PTX archs: -- -- cuDNN: NO -- -- OpenCL: YES (no extra features) -- Include path: /home/bartek/git/opencv/3rdparty/include/opencl/1.2 -- Link libraries: Dynamic load -- -- Python (for build): /usr/bin/python3 -- -- Java: -- ant: NO -- JNI: NO -- Java wrappers: NO -- Java tests: NO -- -- Install to: /usr/local -- ----------------------------------------------------------------- ```

BTW renderSurface is called by update in successive iterations, therefore the provided sample code would fail anyway when looping over the frames acquired from a live sensor, no rendering explicitly requested.

vividaner commented 3 years ago

I met the same error when running the test code. Does anyone know how to fix it?

savuor commented 3 years ago

DynamicFusion is being rewritten now by me. You can try draft PR branch if this would help: https://github.com/opencv/opencv_contrib/pull/2719