Open Uzukidd opened 7 months ago
Hi, I try seting grid_size = [440 500 1] and get an error, it seems that bugs exist when performing 2D voxelization.
_LinAlgError Traceback (most recent call last) Cell In[15], [line 16](vscode-notebook-cell:?execution_count=15&line=16) [8](vscode-notebook-cell:?execution_count=15&line=8) initial_volumes = Volumes( [9](vscode-notebook-cell:?execution_count=15&line=9) features = torch.zeros(1, 3, grid_size[0], grid_size[1], grid_size[2]), [10](vscode-notebook-cell:?execution_count=15&line=10) densities = torch.zeros(1, 1, grid_size[0], grid_size[1], grid_size[2]), [11](vscode-notebook-cell:?execution_count=15&line=11) volume_translation = [0.0, 0.0, 0.0], [12](vscode-notebook-cell:?execution_count=15&line=12) voxel_size = VOXEL_SIZE.tolist(), [13](vscode-notebook-cell:?execution_count=15&line=13) ) [14](vscode-notebook-cell:?execution_count=15&line=14) # add the pointcloud to the 'initial_volumes' buffer using [15](vscode-notebook-cell:?execution_count=15&line=15) # trilinear splatting ---> [16](vscode-notebook-cell:?execution_count=15&line=16) updated_volumes = add_pointclouds_to_volumes( [17](vscode-notebook-cell:?execution_count=15&line=17) pointclouds=pointclouds, [18](vscode-notebook-cell:?execution_count=15&line=18) initial_volumes=initial_volumes, [19](vscode-notebook-cell:?execution_count=15&line=19) mode="nearest", [20](vscode-notebook-cell:?execution_count=15&line=20) ) File [d:\anaconda3\envs\env_beampy_torch\lib\site-packages\pytorch3d\ops\points_to_volumes.py:282](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/ops/points_to_volumes.py:282), in add_pointclouds_to_volumes(pointclouds, initial_volumes, mode, min_weight, rescale_features, _python) [279](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/ops/points_to_volumes.py:279) mask = (mask[None, :] < n_per_pcl[:, None]).type_as(mask) [281](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/ops/points_to_volumes.py:281) # convert to the coord frame of the volume --> [282](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/ops/points_to_volumes.py:282) pcl_3d_local = initial_volumes.world_to_local_coords(pcl_3d) [284](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/ops/points_to_volumes.py:284) features_new, densities_new = add_points_features_to_volume_densities_features( [285](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/ops/points_to_volumes.py:285) points_3d=pcl_3d_local, [286](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/ops/points_to_volumes.py:286) points_features=pcl_feats, (...) ... [294](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/transforms/transform3d.py:294) Return the inverse of self._matrix. [295](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/transforms/transform3d.py:295) """ --> [296](file:///D:/anaconda3/envs/env_beampy_torch/lib/site-packages/pytorch3d/transforms/transform3d.py:296) return torch.inverse(self._matrix) _LinAlgError: linalg.inv: (Batch element 0): The diagonal element 1 is zero, the inversion could not be completed because the input matrix is singular.
Hi, I try seting grid_size = [440 500 1] and get an error, it seems that bugs exist when performing 2D voxelization.