Attempted to run rgbd_odometry.py but got segmentation fault

[sankalpkallakuri]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for main branch).

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?: pip

Additional information

No response

[rxba]

This could be related to #6874 . Are you using numpy>=2.0.0? If so try downgrading it to e.g. 1.26.4, or using the current development wheels or a build from source of Open3D.

[sankalpkallakuri]

Thanks the issue was resolved after downgrading numpy to 1.26.4.