Segmentation Fault after repeated call for update_geometry

[MeyerBuaharon]

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 master branch).

Describe the issue

When I try to run update_geometry for 60 times a second (60fps) it gives me segmentation fault after couple of minutes... When I give more fps (lower the sleep) it crashes more frequently

Steps to reproduce the bug

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

from open3d.cuda.pybind.core import Tensor


class VideoWindow:

    def __init__(self):
        self.pcdA = o3d.t.geometry.PointCloud()
        self.pcdB = o3d.t.geometry.PointCloud()

        self.window = gui.Application.instance.create_window("Open3D - Video Example", 1000, 500)

        self.widget3d = gui.SceneWidget()
        self.widget3d.scene = rendering.Open3DScene(self.window.renderer)
        self.window.add_child(self.widget3d)

        self.is_done = False
        threading.Thread(target=self._update_thread).start()

    def get_ply_from_shared_mem(self, pcd):
        data_lines = np.random.randint(100, 100000)
        buff_x2 = np.random.randint(-10000, 10000, size=data_lines)
        buff_y2 = np.random.randint(-1000, 1000, size=data_lines)
        buff_z2 = np.random.randint(-10, 10, size=data_lines)
        buff_r2 = np.random.randint(254, 255, size=data_lines)
        buff_g2 = np.random.randint(0, 1, size=data_lines)
        buff_b2 = np.random.randint(0,1, size=data_lines)

        self.load_point_cloud(data_lines, buff_x2, buff_y2, buff_z2, buff_r2, buff_g2, buff_b2, pcd)

    def load_point_cloud(self, data_lines, buff_x_breakdown, buff_y_breakdown, buff_z_breakdown,
                         buff_r_breakdown, buff_g_breakdown, buff_b_breakdown, pcd):

        xyz = np.zeros((data_lines, 3))
        colors = np.zeros((data_lines, 3))

        xyz[:, 0] = buff_x_breakdown
        xyz[:, 1] = buff_y_breakdown
        xyz[:, 2] = buff_z_breakdown

        colors[:, 0] = buff_r_breakdown
        colors[:, 1] = buff_g_breakdown
        colors[:, 2] = buff_b_breakdown

        xyz = Tensor(xyz, dtype=o3d.core.float32)
        colors = Tensor(colors, dtype=o3d.core.float32)

        tempPcd = o3d.t.geometry.PointCloud({
            'positions': xyz,
            'colors': colors/255,
        })

        if pcd == 'A':
            self.pcdA = tempPcd
        if pcd == 'B':
            self.pcdB = tempPcd

    def get_ply_a(self):
        idx = 0
        while True:
            time.sleep(1 / 60)
            if True:
                try:
                    idx +=1
                    self.is_a_ready = False

                    self.get_ply_from_shared_mem('A')
                    self.widget3d.scene.scene.update_geometry('frameA', self.pcdA,
                                                              rendering.Scene.UPDATE_POINTS_FLAG |
                                                              rendering.Scene.UPDATE_COLORS_FLAG)
                    self.is_a_ready = True

                except:
                    print('cant get pcd A')

    def get_ply_b(self):
        idx = 0
        while True:
            idx += 1
            time.sleep(1 / 60)
            if True:
                try:
                    self.is_b_ready = False

                    self.get_ply_from_shared_mem('B')
                    self.widget3d.scene.scene.update_geometry('frameB', self.pcdB,
                                                              rendering.Scene.UPDATE_POINTS_FLAG |
                                                              rendering.Scene.UPDATE_COLORS_FLAG)
                    self.is_b_ready = True


                except:
                    print('cant get pcd B')
                    pass

    def _update_thread(self):
        pcd_placeholder = o3d.t.geometry.PointCloud(Tensor(np.zeros((1000000, 3), dtype=np.float32)))
        pcd_placeholder.point['colors'] = Tensor(np.zeros((1000000, 3), dtype=np.float32))
        self.widget3d.scene.scene.add_geometry('frameA', pcd_placeholder, rendering.MaterialRecord())
        self.widget3d.scene.scene.add_geometry('frameB', pcd_placeholder, rendering.MaterialRecord())


        self.get_ply_from_shared_mem('A')
        self.get_ply_from_shared_mem('B')


        while not self.is_done:
            time.sleep(1 /10000)
            self.widget3d.scene.scene.update_geometry('frameA', self.pcdA,
                                                      rendering.Scene.UPDATE_POINTS_FLAG |
                                                      rendering.Scene.UPDATE_COLORS_FLAG)

            self.widget3d.scene.scene.update_geometry('frameB', self.pcdB,
                                                      rendering.Scene.UPDATE_POINTS_FLAG |
                                                      rendering.Scene.UPDATE_COLORS_FLAG)
            # if self.is_a_ready and self.is_b_ready:
            self.window.post_redraw()


def main():
    gui.Application.instance.initialize()
    win = VideoWindow()
    gui.Application.instance.run()


if __name__ == "__main__":
    main()

Error message

Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)

Expected behavior

to not give seg fault

Open3D, Python and System information

- Operating system: Ubuntu 20.04
- Python version: Python 3.8 
- Open3D version: output from python: 0.15.2
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip

Additional information

No response

[MeyerBuaharon]

hey @yuecideng, Do you have any updates regarding this issue? Or any tips on where to locate it in the source code, so I can maybe help with it.

[peterzxli]

This is an ongoing issue for a while now. Any help would be greatly appreciated! #4881

[ethanmusser]

Just a note, but I am experiencing a similar issue where, after making numerous calls to update_geometry in a open3d.visualization.VisualizerWithKeyCallbacks instnace, the program seg faults.

- Operating system: Ubuntu 20.04
- Python version: Python 3.9.18
- Open3D version: output from python: 0.18.0
- System architecture: x86
- Is this a remote workstation?: No
- How did you install Open3D?: pip