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Description
Checklist
- I have searched for similar issues.
- For Python issues, I have tested with the latest development wheel.
- I have checked the release documentation and the latest documentation (for
mainbranch).
Describe the issue
I have been trying to run the rgbd_odometry example but ran into segmentation fault. The culprit function seems to be
target_pcd = o3d.geometry.PointCloud.create_from_rgbd_image(target_rgbd_image,pinhole_camera_intrinsic)
I have tried with the default as well as custom images. I have tried with custom images of 3channel RGB and 1 channel depth. Please advise.
Steps to reproduce the bug
import open3d as o3d
redwood_rgbd = o3d.data.SampleRedwoodRGBDImages()
pinhole_camera_intrinsic = o3d.io.read_pinhole_camera_intrinsic(
redwood_rgbd.camera_intrinsic_path)
print(pinhole_camera_intrinsic.intrinsic_matrix)
source_color = o3d.io.read_image(redwood_rgbd.color_paths[0])
source_depth = o3d.io.read_image(redwood_rgbd.depth_paths[0])
target_color = o3d.io.read_image(redwood_rgbd.color_paths[1])
target_depth = o3d.io.read_image(redwood_rgbd.depth_paths[1])
source_rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
source_color, source_depth)
target_rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
target_color, target_depth)
target_pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
target_rgbd_image, pinhole_camera_intrinsic)
option = o3d.pipelines.odometry.OdometryOption()
odo_init = np.identity(4)
print(option)
[success_color_term, trans_color_term,
info] = o3d.pipelines.odometry.compute_rgbd_odometry(
source_rgbd_image, target_rgbd_image, pinhole_camera_intrinsic, odo_init,
o3d.pipelines.odometry.RGBDOdometryJacobianFromColorTerm(), option)
[success_hybrid_term, trans_hybrid_term,
info] = o3d.pipelines.odometry.compute_rgbd_odometry(
source_rgbd_image, target_rgbd_image, pinhole_camera_intrinsic, odo_init,
o3d.pipelines.odometry.RGBDOdometryJacobianFromHybridTerm(), option)
if success_color_term:
print("Using RGB-D Odometry")
print(trans_color_term)
source_pcd_color_term = o3d.geometry.PointCloud.create_from_rgbd_image(
source_rgbd_image, pinhole_camera_intrinsic)
source_pcd_color_term.transform(trans_color_term)
o3d.visualization.draw_geometries([target_pcd, source_pcd_color_term],
zoom=0.48,
front=[0.0999, -0.1787, -0.9788],
lookat=[0.0345, -0.0937, 1.8033],
up=[-0.0067, -0.9838, 0.1790])
if success_hybrid_term:
print("Using Hybrid RGB-D Odometry")
print(trans_hybrid_term)
source_pcd_hybrid_term = o3d.geometry.PointCloud.create_from_rgbd_image(
source_rgbd_image, pinhole_camera_intrinsic)
source_pcd_hybrid_term.transform(trans_hybrid_term)
o3d.visualization.draw_geometries([target_pcd, source_pcd_hybrid_term],
zoom=0.48,
front=[0.0999, -0.1787, -0.9788],
lookat=[0.0345, -0.0937, 1.8033],
up=[-0.0067, -0.9838, 0.1790])Error message
python3.10 rgbd_odometry1.py
[[525. 0. 319.5]
[ 0. 525. 239.5]
[ 0. 0. 1. ]]
Segmentation fault (core dumped)
Expected behavior
No response
Open3D, Python and System information
- Operating system: Ubuntu 22.04
- Python version: Python 3.8
- Open3D version: output from python: 0.18.0
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pipAdditional information
No response