Regarding the issue of fusion

[xhangHU]

The fusion result I got, the number of points is 0, I checked the results of views and update during the process, and the value of the mask has always been false. Is there something wrong with my operation?

'97': {'image': tensor([[[[ 96., 96., 94., ..., 59., 59., 59.], [ 96., 97., 94., ..., 60., 59., 59.], [ 96., 96., 94., ..., 60., 60., 60.], ..., [147., 147., 147., ..., 95., 94., 93.], [148., 148., 149., ..., 95., 94., 93.], [148., 148., 148., ..., 94., 94., 93.]],

     [[ 57.,  57.,  57.,  ...,  28.,  28.,  28.],
      [ 57.,  58.,  57.,  ...,  29.,  28.,  28.],
      [ 57.,  57.,  57.,  ...,  29.,  29.,  29.],
      ...,
      [ 92.,  92.,  92.,  ...,  45.,  44.,  43.],
      [ 95.,  95.,  96.,  ...,  45.,  44.,  43.],
      [ 95.,  95.,  95.,  ...,  44.,  44.,  43.]],

     [[ 28.,  28.,  28.,  ...,   7.,   7.,   7.],
      [ 28.,  29.,  28.,  ...,   8.,   7.,   7.],
      [ 28.,  28.,  28.,  ...,   8.,   8.,   8.],
      ...,
      [ 38.,  38.,  38.,  ...,  10.,   9.,   8.],
      [ 41.,  41.,  42.,  ...,  10.,   9.,   8.],
      [ 41.,  41.,  41.,  ...,   9.,   9.,   8.]]]]), 'cam': tensor([[[[ 9.9522e-01, -7.8904e-03,  9.7318e-02, -2.7631e+00],
      [ 3.7533e-02,  9.5106e-01, -3.0671e-01, -1.1213e+00],
      [-9.0136e-02,  3.0890e-01,  9.4681e-01,  3.4685e+00],
      [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],

     [[ 6.1405e+02,  0.0000e+00,  3.2000e+02,  0.0000e+00],
      [ 0.0000e+00,  6.1405e+02,  1.8000e+02,  0.0000e+00],
      [ 0.0000e+00,  0.0000e+00,  1.0000e+00,  0.0000e+00],
      [ 5.9801e+00,  0.0000e+00,  2.5600e+02,  1.0600e+01]]]]), 'depth': tensor([[[[0., 0., 0.,  ..., 0., 0., 0.],
      [0., 0., 0.,  ..., 0., 0., 0.],
      [0., 0., 0.,  ..., 0., 0., 0.],
      ...,
      [0., 0., 0.,  ..., 0., 0., 0.],
      [0., 0., 0.,  ..., 0., 0., 0.],
      [0., 0., 0.,  ..., 0., 0., 0.]]]]), 'prob': tensor([[[[0.0592, 0.0592, 0.0589,  ..., 0.0549, 0.0550, 0.0550],
      [0.0592, 0.0592, 0.0589,  ..., 0.0549, 0.0550, 0.0550],
      [0.0596, 0.0596, 0.0593,  ..., 0.0551, 0.0552, 0.0552],
      ...,
      [0.0437, 0.0437, 0.0435,  ..., 0.0387, 0.0397, 0.0397],
      [0.0444, 0.0444, 0.0440,  ..., 0.0391, 0.0402, 0.0402],
      [0.0444, 0.0444, 0.0440,  ..., 0.0391, 0.0402, 0.0402]],

     [[0.1532, 0.1539, 0.1553,  ..., 0.1667, 0.1647, 0.1637],
      [0.1567, 0.1574, 0.1587,  ..., 0.1689, 0.1667, 0.1656],
      [0.1638, 0.1643, 0.1653,  ..., 0.1732, 0.1706, 0.1693],
      ...,
      [0.1703, 0.1709, 0.1721,  ..., 0.1851, 0.1829, 0.1818],
      [0.1608, 0.1624, 0.1657,  ..., 0.1824, 0.1800, 0.1787],
      [0.1560, 0.1582, 0.1625,  ..., 0.1811, 0.1785, 0.1772]],

     [[0.0741, 0.0972, 0.0919,  ..., 0.1583, 0.1776, 0.1896],
      [0.0912, 0.1920, 0.2210,  ..., 0.1435, 0.1575, 0.1612],
      [0.0764, 0.0889, 0.0943,  ..., 0.1130, 0.1219, 0.1303],
      ...,
      [0.0960, 0.1201, 0.1221,  ..., 0.0967, 0.1112, 0.0946],
      [0.1199, 0.1260, 0.1367,  ..., 0.0946, 0.1113, 0.1100],
      [0.1217, 0.1174, 0.1163,  ..., 0.0926, 0.1032, 0.1273]]]]), 'mask': tensor([[[[False, False, False,  ..., False, False, False],
      [False, False, False,  ..., False, False, False],
      [False, False, False,  ..., False, False, False],
      ...,
      [False, False, False,  ..., False, False, False],
      [False, False, False,  ..., False, False, False],
      [False, False, False,  ..., False, False, False]]]])}}

'97': {'depth': tensor([[[[0., 0., 0., ..., 0., 0., 0.], [0., 0., 0., ..., 0., 0., 0.], [0., 0., 0., ..., 0., 0., 0.], ..., [0., 0., 0., ..., 0., 0., 0.], [0., 0., 0., ..., 0., 0., 0.], [0., 0., 0., ..., 0., 0., 0.]]]]), 'mask': tensor([[[[False, False, False, ..., False, False, False], [False, False, False, ..., False, False, False], [False, False, False, ..., False, False, False], ..., [False, False, False, ..., False, False, False], [False, False, False, ..., False, False, False], [False, False, False, ..., False, False, False]]]])}}

'97': {'points': tensor([], size=(0, 3)), 'colors': tensor([], size=(0, 3)), 'dirs': tensor([], size=(0, 3))}}

[Open3D WARNING] [KDTreeFlann::SetRawData] Failed due to no data. tensor([], size=(0, 3)) [Open3D WARNING] Write PLY failed: point cloud has 0 points.

[xhangHU]

The depth values here are all 0, I don’t think it should be like this

[jzhangbs]

Hi, could you please find the first step after which the masks become all False?

[Puiching-Memory]

I had the same problem