PoseLib
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Published
20 hours ago •
vlarsson
vlarsson
Seg fault on mac with poselib estimate_relative_pose function
zsh: segmentation fault when calling estimate_relative_pose() on mac
uname -a output:
Darwin Kernel Version 22.6.0: Wed Jul 5 22:21:56 PDT 2023;
root:xnu-8796.141.3~6/RELEASE_X86_64 x86_64
sw_vers output:
ProductName: macOS
ProductVersion: 13.5.2
BuildVersion: 22G91
Run and reproduce:
import numpy as np
import poselib
corresponding1 = np.array(
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camera1 = {'model': 'PINHOLE', 'width': 3072, 'height': 2304, 'params': [2555.378190542179, 1536.0, 1152.0, -0.02032161065492252]}
camera2 = {'model': 'PINHOLE', 'width': 3072, 'height': 2304, 'params': [2555.378190542179, 1536.0, 1152.0, -0.02032161065492252]}
print(corresponding1,corresponding2,camera1,camera2)
result = poselib.estimate_relative_pose(corresponding1,corresponding2,camera1,camera2)
Hi, Unfortunately I cannot reproduce this bug. It seems to work both on my M1 laptop, and my regular desktop.
Are you building from the master branch?
Also, side note: you probably want the camera model to be "SIMPLE_RADIAL" and not "PINHOLE". At least from looking at the parameter values.
@sfm-user-1 did you manage to solve the issue? I'm having the same problem on ubuntu, tried the master branch and all the pypi versions. Calling poselib.CameraPose() segfaults as well
I would suggest trying in a docker image. I started the following PR some time ago (it is not updated, especially the python part). But you can give a try to see if this is happing to you inside the docker image, so we can reproduce the error: https://github.com/PoseLib/PoseLib/pull/52
@pablospe thanks for the link! With docker I can run the example without problems
In fact, by looking at the Dockerfile I found that running
pip install pybind11
scripts/build_python_package.sh
on that branch works successfully outside of docker as well
You might need to merge to main branch to get the latest commits, but that probably will break the python script. Let me know how it goes in that case. For the moment I will close this issue.
Hi,
I had the same issue (including the segfault with poselib.CameraPose) on multiple computers and systems. In my case the cause was NumPy 2.0.0, which introduces breaking ABI changes.
Thanks for the update @v-pnk ! I had other issues with segfaulting which were resolved by bumping the pybind11 to the most recent commit. If you still have the setup where it breaks, could you try if this resolves the issue? Thanks!
I am still getting Segmentation fault (core dumped).
Could you comment more how did you compile it?
Thanks for the update @v-pnk ! I had other issues with segfaulting which were resolved by bumping the pybind11 to the most recent commit. If you still have the setup where it breaks, could you try if this resolves the issue? Thanks!
Sorry for the late reply. It seems my issue is resolved in 2.0.4. Did not get segfault even with NumPy 2.0.0. Thank you!