Hi, Kevin, when I run python3 label_tools/kitti_objects_label.py -r record_2022_0308_1237 with branch fix_3dbbox，got the following error. Any idea about this? Thanks!
File "/home/tool/0kitti/Kitti_dataset_from_carla_sim/carla_dataset_tools-fix_3dbbox/label_tools/kitti_object/kitti_object_helper.py", line 46, in transform_o3d_bbox
o3d_bbox = o3d.geometry.OrientedBoundingBox.create_from_points(o3d_vps_new)
RuntimeError: QH6114 qhull precision error: initial simplex is not convex. Distance=-8.6e-15
While executing: | qhull Qt
Options selected for Qhull 2018.0.1.r 2018/12/28:
run-id 51249400 Qtriangulate _pre-merge _zero-centrum _max-width 2.2
Error-roundoff 2.7e-13 _one-merge 1.9e-12 _near-inside 9.4e-12
Visible-distance 5.4e-13 U-max-coplanar 5.4e-13 Width-outside 1.1e-12
_wide-facet 3.2e-12 _narrow-hull 2.6e-11
precision problems (corrected unless 'Q0' or an error)
2 zero divisors during back substitute
The input to qhull appears to be less than 3 dimensional, or a
computation has overflowed.
Qhull could not construct a clearly convex simplex from points:
- p2(v3): -2e+02 1.2e+02 -2.4
- p3(v2): -2e+02 1.2e+02 -1.1
- p0(v1): -2e+02 1.2e+02 -2.4
- p1(v0): -2e+02 1.2e+02 -2.4
The center point is coplanar with a facet, or a vertex is coplanar
with a neighboring facet. The maximum round off error for
computing distances is 2.7e-13. The center point, facets and distances
to the center point are as follows:
center point -204.1 124.3 -2.063
facet p3 p0 p1 distance= -1.4e-15
facet p2 p0 p1 distance= -1.4e-15
facet p2 p3 p1 distance= -1.4e-15
facet p2 p3 p0 distance= -4e-06
These points either have a maximum or minimum x-coordinate, or
they maximize the determinant for k coordinates. Trial points
are first selected from points that maximize a coordinate.
The min and max coordinates for each dimension are:
0: -204.1 -2.225e-308 difference= 204.1
1: 122.6 124.8 difference= 2.209
2: -2.376 -2.225e-308 difference= 2.376
If the input should be full dimensional, you have several options that
may determine an initial simplex:
- use 'QJ' to joggle the input and make it full dimensional
- use 'QbB' to scale the points to the unit cube
- use 'QR0' to randomly rotate the input for different maximum points
- use 'Qs' to search all points for the initial simplex
- use 'En' to specify a maximum roundoff error less than 2.7e-13.
- trace execution with 'T3' to see the determinant for each point.
If the input is lower dimensional:
- use 'QJ' to joggle the input and make it full dimensional
- use 'Qbk:0Bk:0' to delete coordinate k from the input. You should
pick the coordinate with the least range. The hull will have the
correct topology.
- determine the flat containing the points, rotate the points
into a coordinate plane, and delete the other coordinates.
- add one or more points to make the input full dimensional.
"""
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "label_tools/kitti_objects_label.py", line 223, in <module>
main()
File "label_tools/kitti_objects_label.py", line 219, in main
kitti_obj_label_tool.process()
File "label_tools/kitti_objects_label.py", line 59, in process
thread_pool.starmap(self.process_frame, self.rawdata_df.iterrows())
File "/usr/lib/python3.8/multiprocessing/pool.py", line 372, in starmap
return self._map_async(func, iterable, starmapstar, chunksize).get()
File "/usr/lib/python3.8/multiprocessing/pool.py", line 771, in get
raise self._value
RuntimeError: QH6114 qhull precision error: initial simplex is not convex. Distance=-8.6e-15
While executing: | qhull Qt
Options selected for Qhull 2018.0.1.r 2018/12/28:
run-id 51249400 Qtriangulate _pre-merge _zero-centrum _max-width 2.2
Error-roundoff 2.7e-13 _one-merge 1.9e-12 _near-inside 9.4e-12
Visible-distance 5.4e-13 U-max-coplanar 5.4e-13 Width-outside 1.1e-12
_wide-facet 3.2e-12 _narrow-hull 2.6e-11
precision problems (corrected unless 'Q0' or an error)
2 zero divisors during back substitute
The input to qhull appears to be less than 3 dimensional, or a
computation has overflowed.
Qhull could not construct a clearly convex simplex from points:
- p2(v3): -2e+02 1.2e+02 -2.4
- p3(v2): -2e+02 1.2e+02 -1.1
- p0(v1): -2e+02 1.2e+02 -2.4
- p1(v0): -2e+02 1.2e+02 -2.4
The center point is coplanar with a facet, or a vertex is coplanar
with a neighboring facet. The maximum round off error for
computing distances is 2.7e-13. The center point, facets and distances
to the center point are as follows:
center point -204.1 124.3 -2.063
facet p3 p0 p1 distance= -1.4e-15
facet p2 p0 p1 distance= -1.4e-15
facet p2 p3 p1 distance= -1.4e-15
facet p2 p3 p0 distance= -4e-06
These points either have a maximum or minimum x-coordinate, or
they maximize the determinant for k coordinates. Trial points
are first selected from points that maximize a coordinate.
The min and max coordinates for each dimension are:
0: -204.1 -2.225e-308 difference= 204.1
1: 122.6 124.8 difference= 2.209
2: -2.376 -2.225e-308 difference= 2.376
If the input should be full dimensional, you have several options that
may determine an initial simplex:
- use 'QJ' to joggle the input and make it full dimensional
- use 'QbB' to scale the points to the unit cube
- use 'QR0' to randomly rotate the input for different maximum points
- use 'Qs' to search all points for the initial simplex
- use 'En' to specify a maximum roundoff error less than 2.7e-13.
- trace execution with 'T3' to see the determinant for each point.
If the input is lower dimensional:
- use 'QJ' to joggle the input and make it full dimensional
- use 'Qbk:0Bk:0' to delete coordinate k from the input. You should
pick the coordinate with the least range. The hull will have the
correct topology.
- determine the flat containing the points, rotate the points
into a coordinate plane, and delete the other coordinates.
- add one or more points to make the input full dimensional.
KevinLADLee
commented
2 years ago
Hi, Kevin, when I run
python3 label_tools/kitti_objects_label.py -r record_2022_0308_1237with branch fix_3dbbox，got the following error. Any idea about this? Thanks!