[BUG] Segmentation Fault during solver.solve in Python run

[nicolaoe]

While running a simple Python script, the solver crashes with a segmentation fault. It happens using the teaserpp_example.py and teaser_python_ply.py too. At installation, all ctest passed successfully. Reinstalling from the develop branch did not solve the problem, and running the script with OMP_NUM_THREADS=12 (or even 1) still produces a segmentation fault at the solver.solve step.

The Python script is run with Python3 on Ubuntu 22.04.5 from a virtual environment with numpy==2.1.1, open3d==0.18.0, teaserpp_python==1.0.0. The machine has 24 cores and 135 GB RAM, so memory overload should not be the issue. An example of command that produces a segmentation fault is (run from the folder /TEASER-plusplus-develop/python/teaserpp_python/): OMP_NUM_THREADS="12" python3 ./teaserpp_example.py

I would appreciate it if you could give me an idea of what could go wrong and how to solve this issue.

Edit:
After further debugging, I found that in the example teaser_python_3dsmooth.py, the segmentation fault was triggered at the line 267: frag1.data = frag1_desc.T
The problem here might be writing to the o3d.pipelines.registration.Feature()? With Python3.10.12, it happens with open3d0.18.0, open3d0.17.0 and open3d0.16.0. I could not downgrade open3d further. Did someone find a solution for this?

[jingnanshi]

I would suggest try cloning the data and write it to frag1.data

[Cuberkk]

Hi guys,
I encountered the same problem. And it looks like the problems occur when executing the function execute_teaser_global_registration, more specifically line 236: teaserpp_solver.solve(source, target).
I tried both on my mac and a linux computer and encountered the same problem. I would appreciate @nicolaoe or @jingnanshi can share the solution if the problem is solved!!

[jingnanshi]

@Cuberkk do you mind testing a bit on your side? See whether the same behaviors occur with small number of points or high number of points, etc..