Torch matrix inversion error

[koktavy]

I've (almost) gotten the repo working on Windows with the help of Issue 16.

When I run on the sample data (even using --eval) I hit this issue: torch._C._LinAlgError: torch.linalg.inv: The diagonal element 1 is zero, the inversion could not be completed because the input matrix is singular.

python slam.py --config configs/mono/tum/fr3_office.yaml --eval

MonoGS: Running MonoGS in Evaluation Mode
MonoGS: Following config will be overriden
MonoGS:         save_results=True
MonoGS:         use_gui=False
MonoGS:         eval_rendering=True
MonoGS:         use_wandb=True
MonoGS: saving results in results\datasets_tum\2024-03-12-13-18-30
wandb: (1) Create a W&B account
wandb: (2) Use an existing W&B account
wandb: (3) Don't visualize my results
wandb: Enter your choice: 3
wandb: You chose "Don't visualize my results"
wandb: Tracking run with wandb version 0.16.4
wandb: W&B syncing is set to `offline` in this directory.
wandb: Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.
MonoGS: Resetting the system
MonoGS: Initialized map
Process Process-3:
Traceback (most recent call last):
  File "C:\Users\Tavius\miniconda3\envs\MonoGS\lib\multiprocessing\process.py", line 297, in _bootstrap
    self.run()
  File "C:\Users\Tavius\miniconda3\envs\MonoGS\lib\multiprocessing\process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "X:\Projects\_2024\MonoGS\utils\slam_backend.py", line 417, in run
    self.add_next_kf(cur_frame_idx, viewpoint, depth_map=depth_map)
  File "X:\Projects\_2024\MonoGS\utils\slam_backend.py", line 69, in add_next_kf
    viewpoint, kf_id=frame_idx, init=init, scale=scale, depthmap=depth_map
  File "X:\Projects\_2024\MonoGS\gaussian_splatting\scene\gaussian_model.py", line 239, in extend_from_pcd_seq
    self.create_pcd_from_image(cam_info, init, scale=scale, depthmap=depthmap)
  File "X:\Projects\_2024\MonoGS\gaussian_splatting\scene\gaussian_model.py", line 131, in create_pcd_from_image
    return self.create_pcd_from_image_and_depth(cam, rgb, depth, init)
  File "X:\Projects\_2024\MonoGS\gaussian_splatting\scene\gaussian_model.py", line 150, in create_pcd_from_image_and_depth
    W2C = getWorld2View2(cam.R, cam.T).cpu().numpy()
  File "X:\Projects\_2024\MonoGS\gaussian_splatting\utils\graphics_utils.py", line 41, in getWorld2View2
    C2W = torch.linalg.inv(Rt)
torch._C._LinAlgError: torch.linalg.inv: The diagonal element 1 is zero, the inversion could not be completed because the input matrix is singular.
[W C:\cb\pytorch_1000000000000\work\torch\csrc\CudaIPCTypes.cpp:15] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]

This is a fresh install using --recursive and only incorporating the change noted above.

[koktavy]

Also here's the batch script I used to download the data on Windows instead of Linux:

IF NOT EXIST "datasets\tum" mkdir "datasets\tum"
cd datasets\tum
curl -LJO https://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_desk.tgz
tar -xvzf rgbd_dataset_freiburg1_desk.tgz
curl -LJO https://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_xyz.tgz
tar -xvzf rgbd_dataset_freiburg2_xyz.tgz
curl -LJO https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz
tar -xvzf rgbd_dataset_freiburg3_long_office_household.tgz
cd ../..

Run from the root in Powershell as scripts\download_tum.bat

[zmf2022]

me too

[rmurai0610]

Hi, thank you for your interest!

Can you print out the variables R, t, Rt, in getWorld2View2 so we can check if the matrix is singular?

I suspect R,t are all zeros due to this bug, but I could be wrong: https://discuss.pytorch.org/t/pytorch-multiprocessing-with-cuda-sets-tensors-to-0/179117

[zmf2022]

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[yanyan-li]

#> Hi, thank you for your interest!

Can you print out the variables R, t, Rt, in getWorld2View2 so we can check if the matrix is singular?

I suspect R,t are all zeros due to this bug, but I could be wrong: https://discuss.pytorch.org/t/pytorch-multiprocessing-with-cuda-sets-tensors-to-0/179117

It is true. Sometimes, the orientation and translation are all zeros. I printed the inputs of getWorld2View2(R,t, .....) `w2v tensor([[-0.8280, 0.5254, -0.1956], [ 0.4139, 0.3374, -0.8455], [-0.3782, -0.7811, -0.4969]], device='cuda:0') tensor([-2.2574, 0.3327, 1.9227], device='cuda:0')

w2v tensor([[0., 0., 0.], [0., 0., 0.], [0., 0., 0.]], device='cuda:0') tensor([0., 0., 0.], device='cuda:0')

w2v tensor([[-0.8280, 0.5254, -0.1956], [ 0.4139, 0.3374, -0.8455], [-0.3782, -0.7811, -0.4969]], device='cuda:0') tensor([-2.2574, 0.3327, 1.9227], device='cuda:0')

w2v tensor([[0., 0., 0.], [0., 0., 0.], [0., 0., 0.]], device='cuda:0') tensor([0., 0., 0.], device='cuda:0')`

[muskie82]

As a quick look, some people reported the same issue in pytorch repo, but no one seems to find a solution. This problem seems to happen only in pytorch multiprocess on Windows.

• https://github.com/pytorch/pytorch/issues/112340
• https://github.com/pytorch/pytorch/issues/100358

Would appreciate it if you share the solution when you find it! The last resort would be to set up an Ubuntu environment on Docker and run MonoGS.

[foreverlong]

Have you solve this error? I meet this error too on my Win10.

[zmf2022]

add this script to disable multithreads! torch.set_num_interop_threads(1)

[hnglp]

add this script to disable multithreads! torch.set_num_interop_threads(1)

is this the solution? can you be more specific

[hnglp]

add this script to disable multithreads! torch.set_num_interop_threads(1)

hi i am not sure that i understand what you say, can you tell me where should i add this line