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The Ubitrack FAQ
> Running Ubitrack
Background video is not displayed and the log shows error message "OpenGL Warning: SHCRGL_GUEST_FN_WRITE_READ (31657004) failed with ffffffdb ffffffea"
This happens if the maximum size of the background texture is exceeded. E.g. running Windows on VirtalBox, the maximum texture size is 2048x2048. See also
http://www.virtualbox.org/ticket/5720.
Ubitrack crashes when used in Visual Studio or any other development environment
Try to run Ubitrack on the console, using the utConsole tool.
- For this, open a command line
- Go to the
bin\ folder in your Ubitrack installation.
cd <path-to-your-ubitrack>\bin\
- Run utConsole with a very simple data flow, by typing
utConsole ..\doc\utql\simple_dataflow.dfg
When everything works fine, it should print some status messages and then, continuously 30 times per second, it should print a dummy pose measurement.
Example:
c:\EXTEND3D\ubitrack\bin>utConsole.exe ..\doc\utql\SimpleDataflow.dfg
Loading components...
17:52:20.709 INFO ComponentFactory.cpp:49 Looking for components in c:\EXTEND3D\ubitrack\bin\ubitrack Ubitrack.Dataflow.ComponentFactory
17:52:20.721 INFO ComponentFactory.cpp:73 Loading driver: 2D3DPoseEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.730 INFO ComponentFactory.cpp:73 Loading driver: AbsoluteOrientation.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.741 INFO ComponentFactory.cpp:73 Loading driver: AbsoluteOrientationRANSAC.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.758 INFO ComponentFactory.cpp:73 Loading driver: Accumulator.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.769 INFO ComponentFactory.cpp:73 Loading driver: Aggregator.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.777 INFO ComponentFactory.cpp:73 Loading driver: ApplicationEndpointsVision.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.799 INFO ComponentFactory.cpp:73 Loading driver: ApplicationPullSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.809 INFO ComponentFactory.cpp:73 Loading driver: ApplicationPushSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.819 INFO ComponentFactory.cpp:73 Loading driver: ApplicationPushSource.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.829 INFO ComponentFactory.cpp:73 Loading driver: art.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.840 INFO ComponentFactory.cpp:73 Loading driver: artBodyFileReader.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.852 INFO ComponentFactory.cpp:73 Loading driver: artErrorEstimator.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.862 INFO ComponentFactory.cpp:73 Loading driver: artSender.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.872 INFO ComponentFactory.cpp:73 Loading driver: Average.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.881 INFO ComponentFactory.cpp:73 Loading driver: AVIFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.896 INFO ComponentFactory.cpp:73 Loading driver: Buffer.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.905 INFO ComponentFactory.cpp:73 Loading driver: CalibFile.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.915 INFO ComponentFactory.cpp:73 Loading driver: CastComponent.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.925 INFO ComponentFactory.cpp:73 Loading driver: ChessboardFunctions.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.940 INFO ComponentFactory.cpp:73 Loading driver: Collector.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.951 INFO ComponentFactory.cpp:73 Loading driver: Color2Grayscale.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.961 INFO ComponentFactory.cpp:73 Loading driver: Countdown.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.971 INFO ComponentFactory.cpp:73 Loading driver: CovarianceEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.984 INFO ComponentFactory.cpp:73 Loading driver: DecomposeProjectionMatrix.dll Ubitrack.Dataflow.ComponentFactory
17:52:20.994 INFO ComponentFactory.cpp:73 Loading driver: Delay.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.002 INFO ComponentFactory.cpp:73 Loading driver: Direction.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.010 INFO ComponentFactory.cpp:73 Loading driver: DirectShowFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.019 INFO ComponentFactory.cpp:73 Loading driver: Distance.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.027 INFO ComponentFactory.cpp:73 Loading driver: EventCombiner.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.039 INFO ComponentFactory.cpp:73 Loading driver: ExponentialSmoothing.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.048 INFO ComponentFactory.cpp:73 Loading driver: FindSubPixelCorner.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.057 INFO ComponentFactory.cpp:73 Loading driver: FrameBuffer.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.066 INFO ComponentFactory.cpp:73 Loading driver: FunctionalFusion.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.073 INFO ComponentFactory.cpp:73 Loading driver: Gate.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.082 INFO ComponentFactory.cpp:73 Loading driver: gps.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.090 INFO ComponentFactory.cpp:73 Loading driver: HandEyeCalibration.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.103 INFO ComponentFactory.cpp:73 Loading driver: HighguiFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.110 INFO ComponentFactory.cpp:73 Loading driver: HighguiWindow.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.119 INFO ComponentFactory.cpp:73 Loading driver: HomogeneousMatrixEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.128 INFO ComponentFactory.cpp:73 Loading driver: Identity.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.137 INFO ComponentFactory.cpp:73 Loading driver: IDSFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.165 INFO ComponentFactory.cpp:73 Loading driver: ImageFileFrameGrabber.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.174 INFO ComponentFactory.cpp:73 Loading driver: ImageFileRecorder.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.184 INFO ComponentFactory.cpp:73 Loading driver: ImageGate.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.192 INFO ComponentFactory.cpp:73 Loading driver: ImageIO.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.199 INFO ComponentFactory.cpp:73 Loading driver: ImagePointPlaneIntersection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.207 INFO ComponentFactory.cpp:73 Loading driver: ImageShrink.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.215 INFO ComponentFactory.cpp:73 Loading driver: ImageTrigger.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.224 INFO ComponentFactory.cpp:73 Loading driver: Intrinsic.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.231 INFO ComponentFactory.cpp:73 Loading driver: Inversion.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.240 INFO ComponentFactory.cpp:73 Loading driver: kuka.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.248 INFO ComponentFactory.cpp:73 Loading driver: LightPointDetection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.257 INFO ComponentFactory.cpp:73 Loading driver: LinearInterpolation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.266 INFO ComponentFactory.cpp:73 Loading driver: ListExtractor.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.273 INFO ComponentFactory.cpp:73 Loading driver: ListGate.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.280 INFO ComponentFactory.cpp:73 Loading driver: MarkerTracker.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.289 INFO ComponentFactory.cpp:73 Loading driver: MatrixMultiplication.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.297 INFO ComponentFactory.cpp:73 Loading driver: MausometerAggregator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.308 INFO ComponentFactory.cpp:73 Loading driver: MausometerDriver.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.316 INFO ComponentFactory.cpp:73 Loading driver: MausometerTracker.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.324 INFO ComponentFactory.cpp:73 Loading driver: MultipleCameraPoseOptimization.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.335 INFO ComponentFactory.cpp:73 Loading driver: Multiplication.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.344 INFO ComponentFactory.cpp:73 Loading driver: ndi.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.353 INFO ComponentFactory.cpp:73 Loading driver: Network2.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.360 INFO ComponentFactory.cpp:73 Loading driver: NetworkSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.370 INFO ComponentFactory.cpp:73 Loading driver: NetworkSource.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.378 INFO ComponentFactory.cpp:73 Loading driver: NullComponent.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.387 INFO ComponentFactory.cpp:73 Loading driver: OffaxisProjection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.397 INFO ComponentFactory.cpp:73 Loading driver: OnlineRotHec.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.403 INFO ComponentFactory.cpp:73 Loading driver: Perturbation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.410 INFO ComponentFactory.cpp:73 Loading driver: PixelErrorPredictionEvaluation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.420 INFO ComponentFactory.cpp:73 Loading driver: PixelFlowCameraRotation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.430 INFO ComponentFactory.cpp:73 Loading driver: player.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.437 INFO ComponentFactory.cpp:73 Loading driver: posegenerator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.445 INFO ComponentFactory.cpp:73 Loading driver: PoseKalmanFilter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.452 INFO ComponentFactory.cpp:73 Loading driver: PoseSplit.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.461 INFO ComponentFactory.cpp:73 Loading driver: PrintSink.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.469 INFO ComponentFactory.cpp:73 Loading driver: recorder.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.478 INFO ComponentFactory.cpp:73 Loading driver: render.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.487 INFO ComponentFactory.cpp:73 Loading driver: ReorderGrid.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.496 INFO ComponentFactory.cpp:73 Loading driver: ResidualError.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.503 INFO ComponentFactory.cpp:73 Loading driver: RFIDm5eReader.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.512 INFO ComponentFactory.cpp:73 Loading driver: RFIDTracker.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.521 INFO ComponentFactory.cpp:73 Loading driver: RigidBodyTracking.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.529 INFO ComponentFactory.cpp:73 Loading driver: RingBuffer.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.537 INFO ComponentFactory.cpp:73 Loading driver: RotationCorrection.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.545 INFO ComponentFactory.cpp:73 Loading driver: RotationDifference.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.552 INFO ComponentFactory.cpp:73 Loading driver: RotationVelocityTransformation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.562 INFO ComponentFactory.cpp:73 Loading driver: RotHecKalmanFilter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.570 INFO ComponentFactory.cpp:73 Loading driver: RotOnlyKalmanFilter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.577 INFO ComponentFactory.cpp:73 Loading driver: Sampler.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.586 INFO ComponentFactory.cpp:73 Loading driver: ScaleEstimation.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.594 INFO ComponentFactory.cpp:73 Loading driver: SignalGenerator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.602 INFO ComponentFactory.cpp:73 Loading driver: SignalGeneratorVision.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.611 INFO ComponentFactory.cpp:73 Loading driver: SPAAM.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.619 INFO ComponentFactory.cpp:73 Loading driver: StaticErrorAdd.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.626 INFO ComponentFactory.cpp:73 Loading driver: StaticMeasurement.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.635 INFO ComponentFactory.cpp:73 Loading driver: StereoCalibration.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.644 INFO ComponentFactory.cpp:73 Loading driver: StereoTracking.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.651 INFO ComponentFactory.cpp:73 Loading driver: Synchronizer.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.659 INFO ComponentFactory.cpp:73 Loading driver: TestSource.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.668 INFO ComponentFactory.cpp:73 Loading driver: TimeComplementaryFusion.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.676 INFO ComponentFactory.cpp:73 Loading driver: TimeComplementaryFusionManual.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.687 INFO ComponentFactory.cpp:73 Loading driver: TimeSpaceConverter.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.694 INFO ComponentFactory.cpp:73 Loading driver: TipCalibration.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.703 INFO ComponentFactory.cpp:73 Loading driver: TischPoseCollector.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.712 INFO ComponentFactory.cpp:73 Loading driver: TofPointSelector.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.720 INFO ComponentFactory.cpp:73 Loading driver: TrackingContestFileReader.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.729 INFO ComponentFactory.cpp:73 Loading driver: Trigger.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.735 INFO ComponentFactory.cpp:73 Loading driver: TriggerLoop.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.743 INFO ComponentFactory.cpp:73 Loading driver: UndistortImage.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.750 INFO ComponentFactory.cpp:73 Loading driver: unifeye.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.759 INFO ComponentFactory.cpp:73 Loading driver: VectorfieldMapper.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.767 INFO ComponentFactory.cpp:73 Loading driver: webgui.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.773 INFO ComponentFactory.cpp:73 Loading driver: WindowedAggregator.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.782 INFO ComponentFactory.cpp:73 Loading driver: xsens-legacy.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.793 INFO ComponentFactory.cpp:73 Loading driver: xsens-raw.dll Ubitrack.Dataflow.ComponentFactory
17:52:21.802 INFO ComponentFactory.cpp:73 Loading driver: z800.dll Ubitrack.Dataflow.ComponentFactory
Instantiating dataflow network from ..\doc\utql\SimpleDataflow.dfg...
17:52:21.814 NOTICE AdvancedFacade.cpp:124 AdvancedFacade::loadDataflow from file ..\doc\utql\SimpleDataflow.dfg Ubitrack.Facade.AdvancedFacade
17:52:21.825 INFO DataflowNetwork.cpp:205 Creating: pattern_1 [TestSourcePose] Ubitrack.Dataflow.DataflowNetwork
17:52:21.834 INFO TestSource.cpp:151 starting TestSource with frequency 30 Ubitrack.Components.TestSource
17:52:21.840 INFO DataflowNetwork.cpp:205 Creating: pattern_2 [PosePrintSink] Ubitrack.Dataflow.DataflowNetwork
17:52:21.848 INFO DataflowNetwork.cpp:119 Making connections Ubitrack.Dataflow.DataflowNetwork
17:52:21.855 INFO DataflowNetwork.cpp:456 assigning event priorities Ubitrack.Dataflow.DataflowNetwork
Starting dataflow
17:52:21.863 INFO DataflowNetwork.cpp:407 Signaling components to start Ubitrack.Dataflow.DataflowNetwork
17:52:21.870 NOTICE EventQueue.cpp:91 Event queue started Ubitrack.Dataflow.EventQueue
Received Measurement for pattern_2: [ -0.0231054 0.0329034 -0.0785514 ] [ ( 0.0189615 -0.00793873 0.0578665 ) 0.998113 ] 17:52:21.910999
Received Measurement for pattern_2: [ -0.0210494 0.0339889 -0.0774115 ] [ ( 0.0201967 -0.00927795 0.0576627 ) 0.998089 ] 17:52:21.959986
Received Measurement for pattern_2: [ -0.0189512 0.0350967 -0.0762482 ] [ ( 0.0214571 -0.0106446 0.0574544 ) 0.998061 ] 17:52:22.009980
<...>
- Stop by pressing CTRL-C. You should see the following:
Received Measurement for pattern_2: [ 0.0577754 0.0756062 -0.0337078 ] [ ( 0.0673413 -0.0604243 0.0497276 ) 0.994656 ] 17:52:23.838152
Stopping dataflow...
17:52:23.880 NOTICE EventQueue.cpp:116 Event queue stopped Ubitrack.Dataflow.EventQueue
17:52:23.894 INFO DataflowNetwork.cpp:407 Signaling components to stop Ubitrack.Dataflow.DataflowNetwork
17:52:23.901 INFO TestSource.cpp:173 stopping TestSource Ubitrack.Components.TestSource
Finished, cleaning up...
utConsole terminated.
17:52:23.977 INFO EventQueue.cpp:85 Destroyed EventQueue Ubitrack.Events.Dataflow.EventQueue
c:\EXTEND3D\ubitrack\bin>
If it does not work, the output might still give you some clues about the problem.
- Have a look at the second line of the output? Does the
Looking for components ... point to the directory you expected? Running set (Windows) or env (Unix) at the command line might give some insight. Look for the output regarding your PATH (Windows) / LD_LIBRARY_PATH settings. On Unix, check also /etc/ld.so.conf (check man page for details). Are different Ubitrack installations configured? Your operating system looks for dlls / shared objects only in the directories configured by the PATH / LD_LIBRARY_PATH variable. There should be only one, otherwise you don't know where your operating system will load dlls (Windows) / shared objects (Unix) from.
- If you think, the used path is correct, then try to figure out where the log messages stop. Which component has been tried to load last? This component probably makes problems. Think about which potentially unmet or wrongly met dependencies this component might have. The
MarkerTracker for example depends on OpenCV. This would be a strong indicator that something with your OpenCV installation is wrong.
utConsole exits with "Error parsing command line parameters - ..."
Make sure that no system environment variable starts with
UBITRACK_ which causes problems in the utConsole command line parser.
> Compiling Ubitrack
Do I always have to specify all parameters when calling Scons?
No!
Scons caches all parameters.
You always can override these parameters, but setting a parameter requires to call Scons once.
The parameters will be stored in a file called
config.cache in your ubitrack top level folder.
I tried to install scons on Windows Vista but it does not work
Change the privilege of the python executable to Administrator and install Scons by typing
python setup.py install
Make sure that the directory with the python executable is within the
PATH environment variable.
I compiled freeglut, but scons does not find glut - what to do?
Copy freeglut.dll to the ubitrack
lib folder, maybe try to rename it to glut.dll.
I installed some library, but SCons does not find it
You can force SCons to re-run all checks by calling it with
scons --config=force
I always get a message the boost is not found
Boost uses platform- and compiler-specific suffixes for its library names, e.g. "-mt", "-gcc-mt" or "-vc80-mt-gd". Please look into your lib directory what exactly the suffix is. Then set it in SCons using e.g.
scons BOOST_SUFFIX="-mt" --config=force
No Java SDK found and JAVA_HOME variable is not set in config.cache
Then you probably have the
JAVA_HOME variable set as an environment variable - that's ok. But add the
JAVA_HOME/bin directory to the
PATH environment variable
I got OpenCV 2.0 and it is not found
Theres a problem in naming of the libs in OpenCV 2.0. I just got back to OpenCV 1.0. Another workaround could be to copy the lib and dll files that contain a
200 in their name and to take out the
200 from the name in the copies
> Compiling on Windows
SWIG is not found
Edit the file
config.cache and add extra quotes around the path:
SWIGCOM = '"C:\\home\\software\\swigwin-1.3.40\\swig.exe"'
> Compiling on Linux
> Compiling on MAC