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Open3D: A Modern Library for 3D Data Processing
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RuntimeError: [Open3D ERROR] [CreateCoordinateFrame] size <= 0? #1697

Closed K-M-Ibrahim-Khalilullah closed 2 years ago

K-M-Ibrahim-Khalilullah commented 4 years ago

I am try to smooth mesh , but it gives the following error: RuntimeError: [Open3D ERROR] [CreateCoordinateFrame] size <= 0

my code segment:

rec_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(pcd2, o3d.utility.DoubleVector(radii))
print(rec_mesh.vertices) ### Ok >>std::vector<Eigen::Vector3d> with 20245 elements.
##mesh=o3d.geometry.TriangleMesh()
##mesh.vertices=rec_mesh.vertices
#rec_mesh.compute_vertex_normals()
#
smooth_mesh=rec_mesh.filter_smooth_taubin(number_of_iterations=100)
o3d.io.write_triangle_mesh(SaveF, smooth_mesh)
o3d.visualization.draw_geometries([smooth_mesh])

Environment: Anaconda3; python 3; Windows 10

I don't know where is my problem? Is there any explanation please?

griegler commented 4 years ago

I don't think the error is from the code snippet of yours. The error is only thrown here. Do you have a create_coordinate_frame somewhere else in your code?

lirhlirh commented 4 years ago

I have met the problem too. For a .py script file, I successfully run it in vscode, but the error happened the next day. Finally, I found that I can the script successfully in the Windows PowerShell.

EmreOzkose commented 4 years ago

I have exactly the same error. Is there anybody who solved the problem? Solution of here did not work for me

lirhlirh commented 4 years ago

I set the wrong input file path。 When the file path is fixed, it works normally.

EmreOzkose commented 4 years ago

Thank you for response @lirhlirh . In detail, I am using reconstruction codes and making fragments seem okey. It is because there are 15 frames to integrate and making fragment function combining 15 frames. Hence I think paths are okey for me.

Output (with error):

====================================
Configuration
====================================
                                    name : Captured frames using Realsense
                            path_dataset : /home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/dataset_hacettepe/mini
                          path_intrinsic : /home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/dataset_hacettepe/instrict.json
                               max_depth : 3.0
                              voxel_size : 0.05
                          max_depth_diff : 0.07
        preference_loop_closure_odometry : 0.1
    preference_loop_closure_registration : 5.0
                         tsdf_cubic_size : 3.0
                              icp_method : color
                     global_registration : ransac
                  python_multi_threading : True
                          depth_map_type : redwood
                   n_frames_per_fragment : 100
                 n_keyframes_per_n_frame : 5
                               min_depth : 0.3
                         folder_fragment : fragments/
             template_fragment_posegraph : fragments/fragment_%03d.json
   template_fragment_posegraph_optimized : fragments/fragment_optimized_%03d.json
            template_fragment_pointcloud : fragments/fragment_%03d.ply
                            folder_scene : scene/
               template_global_posegraph : scene/global_registration.json
     template_global_posegraph_optimized : scene/global_registration_optimized.json
              template_refined_posegraph : scene/refined_registration.json
    template_refined_posegraph_optimized : scene/refined_registration_optimized.json
                    template_global_mesh : scene/integrated.ply
                    template_global_traj : scene/trajectory.log
                              debug_mode : True
OpenCV is detected. Using ORB + 5pt algorithm
making fragments from RGBD sequence.
Fragment 000 / 000 :: RGBD matching between frame : 0 and 1
Fragment 000 / 000 :: RGBD matching between frame : 0 and 5
Fragment 000 / 000 :: RGBD matching between frame : 0 and 10
Fragment 000 / 000 :: RGBD matching between frame : 1 and 2
Fragment 000 / 000 :: RGBD matching between frame : 2 and 3
Fragment 000 / 000 :: RGBD matching between frame : 3 and 4
Fragment 000 / 000 :: RGBD matching between frame : 4 and 5
Fragment 000 / 000 :: RGBD matching between frame : 5 and 6
Fragment 000 / 000 :: RGBD matching between frame : 5 and 10
Fragment 000 / 000 :: RGBD matching between frame : 6 and 7
Fragment 000 / 000 :: RGBD matching between frame : 7 and 8
Fragment 000 / 000 :: RGBD matching between frame : 8 and 9
Fragment 000 / 000 :: RGBD matching between frame : 9 and 10
Fragment 000 / 000 :: RGBD matching between frame : 10 and 11
Fragment 000 / 000 :: RGBD matching between frame : 11 and 12
Fragment 000 / 000 :: RGBD matching between frame : 12 and 13
Fragment 000 / 000 :: RGBD matching between frame : 13 and 14
[Open3D DEBUG] Validating PoseGraph - finished.
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 15 nodes and 17 edges.
[Open3D DEBUG] Line process weight : 0.002450
[Open3D DEBUG] [Initial     ] residual : 1.032394e+01, lambda : 1.000849e-04
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] [GlobalOptimizationLM] total time : 0.000 sec.
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 15 nodes and 14 edges.
[Open3D DEBUG] Line process weight : 0.002450
[Open3D DEBUG] [Initial     ] residual : 6.333382e-11, lambda : 1.000849e-04
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] [GlobalOptimizationLM] total time : 0.000 sec.
[Open3D DEBUG] CompensateReferencePoseGraphNode : reference : 0
Fragment 000 / 000 :: integrate rgbd frame 0 (1 of 15).
Fragment 000 / 000 :: integrate rgbd frame 1 (2 of 15).
Fragment 000 / 000 :: integrate rgbd frame 2 (3 of 15).
Fragment 000 / 000 :: integrate rgbd frame 3 (4 of 15).
Fragment 000 / 000 :: integrate rgbd frame 4 (5 of 15).
Fragment 000 / 000 :: integrate rgbd frame 5 (6 of 15).
Fragment 000 / 000 :: integrate rgbd frame 6 (7 of 15).
Fragment 000 / 000 :: integrate rgbd frame 7 (8 of 15).
Fragment 000 / 000 :: integrate rgbd frame 8 (9 of 15).
Fragment 000 / 000 :: integrate rgbd frame 9 (10 of 15).
Fragment 000 / 000 :: integrate rgbd frame 10 (11 of 15).
Fragment 000 / 000 :: integrate rgbd frame 11 (12 of 15).
Fragment 000 / 000 :: integrate rgbd frame 12 (13 of 15).
Fragment 000 / 000 :: integrate rgbd frame 13 (14 of 15).
Fragment 000 / 000 :: integrate rgbd frame 14 (15 of 15).
register fragments.
[Open3D WARNING] PoseGraph read JSON failed: empty edges.
[Open3D DEBUG] Validating PoseGraph - finished.
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] CompensateReferencePoseGraphNode : reference : 0
refine rough registration of fragments.
[Open3D WARNING] PoseGraph read JSON failed: empty edges.
registration::PoseGraph with 1 nodes and 0 edges.
[Open3D WARNING] PoseGraph read JSON failed: empty edges.
[Open3D DEBUG] Validating PoseGraph - finished.
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] CompensateReferencePoseGraphNode : reference : 0
integrate the whole RGBD sequence using estimated camera pose.
Fragment 000 / 000 :: integrate rgbd frame 0 (1 of 15).
Fragment 000 / 000 :: integrate rgbd frame 1 (2 of 15).
Fragment 000 / 000 :: integrate rgbd frame 2 (3 of 15).
Fragment 000 / 000 :: integrate rgbd frame 3 (4 of 15).
Fragment 000 / 000 :: integrate rgbd frame 4 (5 of 15).
Fragment 000 / 000 :: integrate rgbd frame 5 (6 of 15).
Fragment 000 / 000 :: integrate rgbd frame 6 (7 of 15).
Fragment 000 / 000 :: integrate rgbd frame 7 (8 of 15).
Fragment 000 / 000 :: integrate rgbd frame 8 (9 of 15).
Fragment 000 / 000 :: integrate rgbd frame 9 (10 of 15).
Fragment 000 / 000 :: integrate rgbd frame 10 (11 of 15).
Fragment 000 / 000 :: integrate rgbd frame 11 (12 of 15).
Fragment 000 / 000 :: integrate rgbd frame 12 (13 of 15).
Fragment 000 / 000 :: integrate rgbd frame 13 (14 of 15).
Fragment 000 / 000 :: integrate rgbd frame 14 (15 of 15).
Traceback (most recent call last):
  File "/home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/run_system.py", line 79, in <module>
    integrate_scene.run(config)
  File "/home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/integrate_scene.py", line 71, in run
    scalable_integrate_rgb_frames(config["path_dataset"], intrinsic, config)
  File "/home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/integrate_scene.py", line 54, in scalable_integrate_rgb_frames
    o3d.visualization.draw_geometries([mesh])
RuntimeError: [Open3D ERROR] [CreateCoordinateFrame] size <= 0
EmreOzkose commented 4 years ago

I also tried to give ICL-NUIM dataset as an input. Nothing changed. Here is output: 

====================================
Configuration
====================================
                                    name : Captured frames using Realsense
                            path_dataset : /home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/dataset_hacettepe/mini
                          path_intrinsic : /home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/dataset_hacettepe/instrict_kt2.json
                               max_depth : 3.0
                              voxel_size : 0.05
                          max_depth_diff : 0.07
        preference_loop_closure_odometry : 0.1
    preference_loop_closure_registration : 5.0
                         tsdf_cubic_size : 3.0
                              icp_method : color
                     global_registration : ransac
                  python_multi_threading : True
                          depth_map_type : redwood
                   n_frames_per_fragment : 100
                 n_keyframes_per_n_frame : 5
                               min_depth : 0.3
                         folder_fragment : fragments/
             template_fragment_posegraph : fragments/fragment_%03d.json
   template_fragment_posegraph_optimized : fragments/fragment_optimized_%03d.json
            template_fragment_pointcloud : fragments/fragment_%03d.ply
                            folder_scene : scene/
               template_global_posegraph : scene/global_registration.json
     template_global_posegraph_optimized : scene/global_registration_optimized.json
              template_refined_posegraph : scene/refined_registration.json
    template_refined_posegraph_optimized : scene/refined_registration_optimized.json
                    template_global_mesh : scene/integrated.ply
                    template_global_traj : scene/trajectory.log
                              debug_mode : True
OpenCV is detected. Using ORB + 5pt algorithm
making fragments from RGBD sequence.
Fragment 000 / 000 :: RGBD matching between frame : 0 and 1
Fragment 000 / 000 :: RGBD matching between frame : 0 and 5
Fragment 000 / 000 :: RGBD matching between frame : 0 and 10
Fragment 000 / 000 :: RGBD matching between frame : 1 and 2
Fragment 000 / 000 :: RGBD matching between frame : 2 and 3
Fragment 000 / 000 :: RGBD matching between frame : 3 and 4
Fragment 000 / 000 :: RGBD matching between frame : 4 and 5
Fragment 000 / 000 :: RGBD matching between frame : 5 and 6
Fragment 000 / 000 :: RGBD matching between frame : 5 and 10
Fragment 000 / 000 :: RGBD matching between frame : 6 and 7
Fragment 000 / 000 :: RGBD matching between frame : 7 and 8
Fragment 000 / 000 :: RGBD matching between frame : 8 and 9
Fragment 000 / 000 :: RGBD matching between frame : 9 and 10
Fragment 000 / 000 :: RGBD matching between frame : 10 and 11
Fragment 000 / 000 :: RGBD matching between frame : 11 and 12
Fragment 000 / 000 :: RGBD matching between frame : 12 and 13
Fragment 000 / 000 :: RGBD matching between frame : 13 and 14
[Open3D DEBUG] Validating PoseGraph - finished.
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 15 nodes and 17 edges.
[Open3D DEBUG] Line process weight : 0.002450
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 2.000000e-04
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 15 nodes and 17 edges.
[Open3D DEBUG] Line process weight : 0.002450
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 2.000000e-04
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] CompensateReferencePoseGraphNode : reference : 0
Fragment 000 / 000 :: integrate rgbd frame 0 (1 of 15).
Fragment 000 / 000 :: integrate rgbd frame 1 (2 of 15).
Fragment 000 / 000 :: integrate rgbd frame 2 (3 of 15).
Fragment 000 / 000 :: integrate rgbd frame 3 (4 of 15).
Fragment 000 / 000 :: integrate rgbd frame 4 (5 of 15).
Fragment 000 / 000 :: integrate rgbd frame 5 (6 of 15).
Fragment 000 / 000 :: integrate rgbd frame 6 (7 of 15).
Fragment 000 / 000 :: integrate rgbd frame 7 (8 of 15).
Fragment 000 / 000 :: integrate rgbd frame 8 (9 of 15).
Fragment 000 / 000 :: integrate rgbd frame 9 (10 of 15).
Fragment 000 / 000 :: integrate rgbd frame 10 (11 of 15).
Fragment 000 / 000 :: integrate rgbd frame 11 (12 of 15).
Fragment 000 / 000 :: integrate rgbd frame 12 (13 of 15).
Fragment 000 / 000 :: integrate rgbd frame 13 (14 of 15).
Fragment 000 / 000 :: integrate rgbd frame 14 (15 of 15).
register fragments.
[Open3D WARNING] PoseGraph read JSON failed: empty edges.
[Open3D DEBUG] Validating PoseGraph - finished.
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] CompensateReferencePoseGraphNode : reference : 0
refine rough registration of fragments.
[Open3D WARNING] PoseGraph read JSON failed: empty edges.
registration::PoseGraph with 1 nodes and 0 edges.
[Open3D WARNING] PoseGraph read JSON failed: empty edges.
[Open3D DEBUG] Validating PoseGraph - finished.
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] [GlobalOptimizationLM] Optimizing PoseGraph having 1 nodes and 0 edges.
[Open3D DEBUG] Line process weight : 0.000000
[Open3D DEBUG] [Initial     ] residual : 0.000000e+00, lambda : 0.000000e+00
[Open3D DEBUG] Maximum coefficient of right term < 1.000000e-06
[Open3D DEBUG] CompensateReferencePoseGraphNode : reference : 0
integrate the whole RGBD sequence using estimated camera pose.
OWN CAM IS USED
Fragment 000 / 000 :: integrate rgbd frame 0 (1 of 15).
Fragment 000 / 000 :: integrate rgbd frame 1 (2 of 15).
Fragment 000 / 000 :: integrate rgbd frame 2 (3 of 15).
Fragment 000 / 000 :: integrate rgbd frame 3 (4 of 15).
Fragment 000 / 000 :: integrate rgbd frame 4 (5 of 15).
Fragment 000 / 000 :: integrate rgbd frame 5 (6 of 15).
Fragment 000 / 000 :: integrate rgbd frame 6 (7 of 15).
Fragment 000 / 000 :: integrate rgbd frame 7 (8 of 15).
Fragment 000 / 000 :: integrate rgbd frame 8 (9 of 15).
Fragment 000 / 000 :: integrate rgbd frame 9 (10 of 15).
Fragment 000 / 000 :: integrate rgbd frame 10 (11 of 15).
Fragment 000 / 000 :: integrate rgbd frame 11 (12 of 15).
Fragment 000 / 000 :: integrate rgbd frame 12 (13 of 15).
Fragment 000 / 000 :: integrate rgbd frame 13 (14 of 15).
Fragment 000 / 000 :: integrate rgbd frame 14 (15 of 15).
Traceback (most recent call last):
  File "/home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/run_system.py", line 81, in <module>
    integrate_scene.run(config)
  File "/home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/integrate_scene.py", line 72, in run
    scalable_integrate_rgb_frames(config["path_dataset"], intrinsic, config)
  File "/home/emre/Programs/Open3D/examples/Python/ReconstructionSystem/integrate_scene.py", line 54, in scalable_integrate_rgb_frames
    o3d.visualization.draw_geometries([mesh])
RuntimeError: [Open3D ERROR] [CreateCoordinateFrame] size <= 0
EmreOzkose commented 4 years ago

I do not want to keep busy the issue, but I download datasets with scripts. Results is fine. I guess depth images in my own dataset are not valid. I am going deeper :)))

theNded commented 4 years ago

There should be something wrong with the poses, since normally we would expect to see outputs from global optimization similar to our tutorial instead of pure 0s. Incorrect poses will cause the integration module sparsly scattering points inside the TSDF volume, where MarchingCubes cannot extract a single point.

General problems can be caused by:

Oh @EmreOzkose I closely checked your log, the problem was with fragments. We assume a dataset contains more than 100 frames and we construct one fragment per 100 frames, but you only input 15 frames. This will not trigger following stages and will cause an error in the final output.

The reconstructed model of the 15 frames should be already in fragments/ folder. If you want a large complete model, try more frames.

rshivansh commented 4 years ago

Hi I am trying to run a simple python script;

pcd_load = o3d.io.read_point_cloud('000012.ply') pcd_load.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]]) o3d.visualization.draw_geometries([pcd_load])

which displays the loaded point cloud file when I run the python script from VS, cmd, anaconda prompt and powershell. However for some reasons I have to execute the same python file via a UI which I am writing in c#. While running the python script from c#, the error comes as RuntimeError: [Open3D ERROR] [CreateCoordinateFrame] size <= 0?

However running the source python file as it is does not throw any error, could you let me know what is going wrong? I am sure that my way of running python script from c# is correct, coz I am able to run other similar scripts in a same manner.

Thanks

zendevil commented 4 years ago

I have the same issue. macOS with open3d._version_ == 1.10.0.0

o3d.geometry.RGBDImage.create_from_color_and_depth(o3d.io.read_image("/img/path.png"), o3d.io.read_image("/depth/path.png"))

gives:

RuntimeError: [Open3D ERROR] [CreateCoordinateFrame] size <= 0

How do I fix this? Please.

johnnyhuziqin commented 3 years ago

I have this issue just now, but I found that is was my mistake because I have input an empty mesh to the draw function. Why I input an empty mesh? because I have a wrong file path input, then there is actually no mesh loaded at all. When I set the correct path of input file, the function works perfect.

ssheorey commented 2 years ago

Closing since the error has been resolved. Thanks @johnnyhuziqin , @EmreOzkose, @lirhlirh . Others please ensure that your file path is correct and that the read point cloud is not empty. If you still face problems, please open a new issue.