Open3D crashes when adding and removing geometries around 65500 times

[summit-cross]

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 want to update a pointcloud very often with the Open3D GUI API. In this example you can see that the program crashes every time after about the same number of frames, it is looking like the value of a UInt16. So I assume it has to do with this.

This could be a similar issue: https://github.com/isl-org/Open3D/issues/7129

It would be nice if we could run the program for a long time.

Please note: This program is only written to reproduce the ERROR very quickly. The displayed point cloud bar moves to indicate that the program is running.

Steps to reproduce the bug

import faulthandler
import numpy as np
import open3d as o3d
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
import threading

CLOUD_NAME = 'points'

class Open3DTest:
    def __init__(self):
        # the open3d pointcloud
        self.pcd = o3d.geometry.PointCloud()
        # counter for pointcloud actualizations
        self.pcd_actualize_counter = 0
        # lock
        self.pcd_lock = threading.Lock()

        # crate application
        self.app = gui.Application.instance
        # initialize application
        self.app.initialize()

        # create window
        self.window_name = 'Open3D_Overflow_Test'
        self.window = self.app.create_window(self.window_name, 800, 500)

        # add a scene and setup camera
        self.widget3d = gui.SceneWidget()
        self.widget3d.scene = rendering.Open3DScene(self.window.renderer)
        self.setup_scene_camera()
        self.widget3d.scene.show_ground_plane(True, rendering.Scene.GroundPlane.XY)
        self.window.add_child(self.widget3d)

        # prepare thread
        self.ui_update_thread = threading.Thread(target=self.ui_update_thread)

    def setup_scene_camera(self):
        bounds = o3d.geometry.AxisAlignedBoundingBox()
        bounds.max_bound = [30, 10, 10]
        bounds.min_bound = [-10, -10, -10]
        self.widget3d.setup_camera(43, bounds, [0, 0, 0])

    def ui_update_thread(self):

        def calc_colors_from_reflectivity(pcd_reflectivity):
            pcd_reflectivity_size = pcd_reflectivity.size
            pcd_colors = np.zeros(shape=(pcd_reflectivity_size, 3), dtype=np.float64)
            pcd_colors[:, 0] = (pcd_reflectivity[:] / 255)  # r
            pcd_colors[:, 1] = (pcd_reflectivity[:] / 255)  # g
            pcd_colors[:, 2] = 1 - (pcd_reflectivity[:] / 255)  # b
            o3d_pcd_colors = o3d.utility.Vector3dVector(pcd_colors)
            return o3d_pcd_colors

        def create_numpy_pcd(intensity_offset):
            pcd_colortest = np.zeros(shape=(256, 4), dtype=np.float64)
            i = 0
            while i < 256:
                pcd_colortest[i, 0] = i * 0.1  # x
                intensity = i + intensity_offset
                intensity = intensity % 256
                pcd_colortest[i, 3] = intensity
                i += 1
            return pcd_colortest

        def update_open3d_pcd_colortest():
            pcd_colortest = create_numpy_pcd(self.pcd_actualize_counter)
            with self.pcd_lock:
                self.pcd.points = o3d.utility.Vector3dVector(pcd_colortest[:, 0:3])
                self.pcd.colors = calc_colors_from_reflectivity(pcd_colortest[:, 3])

        def add_first_cloud():
            pcd_colortest = create_numpy_pcd(self.pcd_actualize_counter)
            with self.pcd_lock:
                self.pcd.points = o3d.utility.Vector3dVector(pcd_colortest[:, 0:3])
                self.pcd.colors = calc_colors_from_reflectivity(pcd_colortest[:, 3])

                mat = o3d.visualization.rendering.MaterialRecord()
                mat.shader = 'defaultUnlit'
                mat.point_size = 10

                self.widget3d.scene.add_geometry(CLOUD_NAME, self.pcd, mat)

                del mat

        def update_cloud():
            # clear old geometries
            self.widget3d.scene.clear_geometry()

            mat = o3d.visualization.rendering.MaterialRecord()
            mat.shader = 'defaultUnlit'
            mat.point_size = 10

            # add the new cloud
            with self.pcd_lock:
                self.widget3d.scene.add_geometry(CLOUD_NAME, self.pcd, mat)

            del mat

            # count counter and make checks for displaying the counter
            self.pcd_actualize_counter += 1
            if self.pcd_actualize_counter < 100 or self.pcd_actualize_counter > 65500:
                print(self.pcd_actualize_counter)
            elif self.pcd_actualize_counter % 10000 == 0:
                print(self.pcd_actualize_counter)

        # _____ Thread Start _____
        gui.Application.instance.post_to_main_thread(self.window, add_first_cloud)

        # Thread Loop
        while True:
            update_open3d_pcd_colortest()
            gui.Application.instance.post_to_main_thread(self.window, update_cloud)

    def run(self):
        # Start the update thread for ui
        self.ui_update_thread.start()

        # Start the Application
        self.app.run()

if __name__ == '__main__':
    faulthandler.enable()
    # Start the Main UI thread
    win = Open3DTest()
    win.run()

Error message

Windows fatal exception: access violation

Thread 0x000046d4 (most recent call first): File "C:...\open3d_overflow_test.py", line 113 in ui_update_thread File "C:...\Lib\threading.py", line 1012 in run File "C:...\Lib\threading.py", line 1075 in _bootstrap_inner File "C:...\Lib\threading.py", line 1032 in _bootstrap

Thread 0x0000812c (most recent call first): File "C:...\open3d_overflow_test.py", line 95 in update_cloud File "C:...\open3d_overflow_test.py", line 120 in run File "C:...\open3d_overflow_test.py", line 126 in

Expected behavior

The program should not crash.

Open3D, Python and System information

- Operating system: Windows 11 64-bit
- Python version: Python 3.12.9 / output from `import sys; print(sys.version)`
- Open3D version: output from python: `0.19.0`
- System architecture: x64
- Is this a remote workstation?: no
- How did you install Open3D?: pip

Additional information

No response