knn_search abnormal behavior when knn > 2048 using GPU, return all 0 or very large random integer array #7301
Description
Checklist
- I have searched for similar issues.
- For Python issues, I have tested with the latest development wheel.
- I have checked the release documentation and the latest documentation (for
mainbranch).
Describe the issue
The open3d.core.nns.NearestNeighborSearch will return an indices inside are all 0 or random integers, when knn > 2048 when using GPU.
And running normal when using CPU.
Only Related Issue #6108
Background:
I try to use the indices given by knn_search to index the pcd open3d.t.geometry.PointCloud, however, it always give an error below
RuntimeError: [Open3D Error] (void open3d::core::__OPEN3D_CUDA_CHECK(cudaError_t, const char*, int)) /root/Open3D/cpp/open3d/core/CUDAUtils.cpp:309: /root/Open3D/cpp/open3d/core/MemoryManagerCUDA.cpp:78 CUDA runtime error: an illegal memory access was encountered
Finally, I found that when knn is large, the indices given by knn_search will be
- All
0 - Some or All very large number (> number of total points)
- May be have negative sometime (maybe is too large make it overflow, leading to being misinterpret)
Steps to reproduce the bug
Reproduce Code and my output:
1. (Check in GPU)
import open3d as o3d
import numpy as np
device = o3d.core.Device("cuda:0")
pc = np.random.randn(100_000, 3) * 100
pc_o3d_tensor = o3d.core.Tensor(pc, device=device)
pc_nns = o3d.core.nns.NearestNeighborSearch(pc_o3d_tensor.clone())
pc_nns_knn_index_init_flag = pc_nns.knn_index()
print(pc_nns_knn_index_init_flag)
pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=3)
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=3 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=3 KNN < pc.shape[0] check")
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2000 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2000 KNN < pc.shape[0] check"), f"{indices}"
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2048)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2048 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2048 KNN < pc.shape[0] check")
# Here 2049 can alter into any other number > 2048
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2049)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2049 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2049 KNN < pc.shape[0] check")
My output:
True
Pass k=3 KNN >= 0 check
Pass k=3 KNN < pc.shape[0] check
Pass k=2000 KNN >= 0 check
Pass k=2000 KNN < pc.shape[0] check
Pass k=2048 KNN >= 0 check
Pass k=2048 KNN < pc.shape[0] check
Pass k=2049 KNN >= 0 check
---------------------------------------------------------------------------
AssertionError Traceback (most recent call last)
Cell In[3], line 33
31 assert (indices >= 0).all(), f"{indices}"
32 print("Pass k=2049 KNN >= 0 check")
---> 33 assert (indices < pc.shape[0]).all(), f"{indices}"
34 print("Pass k=2049 KNN < pc.shape[0] check")
AssertionError: [[41615 87660 48139 69870 29493 27665 47014 13476 41733 98013 11349 37385 53438 77182 50672 97780 59937 26777 6455 2229 12098 17081 18415 76523 13096 47476 74231 95942 50268 188 19404 63654 72564 84947 55162 47804 23181 14394 20001 9238 42726 54543 60294 12833 27843 8248 40614 52819 87784 2574 37061 94349 90915 10288 236 1096 71009 23588 3335 24311 27043 49305 77189 49755 84721 20267 38354 54395 54132 8324 12744 86143 5291 76462 95431 48238 85765 86966 95866 78080 93165 28182 97228 17704 50335 14048 99949 75137 48108 35504 61542 21677 54626 6244 25793 33565 75262 69067 50985 26909 96807 79844 35113 20981 59442 11954 92108 77064 4488 7534 89956 45158 40965 44205 34808 95964 14957 23104 17327 7672 67805 43510 66699 86717 69148 22079 51115 1485 60534 70333 14987 72778 27995 33442 83793 78961 43271 58812 57256 48240 70825 90957 94447 32214 68384 85442 35726 57396 30474 5451 97245 87237 89728 25002 37550 36927 92061 51953 54363 56472 69344 63767 92853 77848 71613 31935 74015 97542 15314 75926 66 921 98812 54815 8638 72167 16819 63602 98004 10409 58589 49434 57319 2707 90258 3473 4746 3381 49877 47966 32550 54271 16482 33659 39598 93783 60655 4849 21821 90966 40085 23404 82252 41762 23379 37363 23605 70206 82560 98632 80577 34528 31578 47313 30307 39756 63252 72415 1785 7623 1827 82661 17001 3937 20002 10265 81844 79492 91638 73193 51493 66527 15343 87882 83029 18008 20015 8434 35896 42550 59179 25147 16446 17378 46101 38350 48514 3909 67493 97219 33984 36203 41117 62177 55814 70807 25013 58773 79845 46207 15541 27963 41376 5340 48434 55454 93185 85328 46905 75108 5378 1066 54102 73096 47267 27820 10528 99395 40207 2936 27822 71838 70833 89591 54921 42911 20003 18786 86209 66994 48074 18557 15992 36847 45516 92148 54913 98814 40279 6795 50603 60004 82406 42577 46881 86187 58309 64176 91286 37485 73702 22755 82334 32172 62869 32459 23735 54585 7135 83507 28533 49322 67353 83288 31282 85035 720 47555 53039 33950 27098 86066 98264 50205 46724 63262 90584 50120 15315 95726 13479 23910 71690 92771 43465 76304 56418 67819 13453 29012 19596 63193 54225 44569 72765 67171 5511 73045 64211 27360 39721 86387 6938 87809 60877 34011 36384 83400 77034 75894 38675 58991 45743 3970 80311 60063 64909 20134 42107 63643 28896 54735 59662 80291 10621 77217 24372 23622 95343 4898 17726 51292 82618 94129 32810 89142 72871 42183 9126 28781 25010 75939 78908 39083 83177 51786 73064 58430 8280 47874 77528 65970 53997 64326 99504 20749 56757 45004 90047 93730 27413 64630 45785 21159 8476 81798 49338 97174 34068 62894 74567 66876 62503 58268 17364 7335 37103 13585 86917 29484 2952 66782 96508 636 86359 28946 4484 11286 59345 99824 6505 27838 64058 90858 13246 82913 80757 68075 98670 51871 26243 85893 80250 82138 75728 75409 23333 88931 66362 81890 85413 84597 39261 71149 45204 88912 45898 8648 19023 40364 5099 48856 41278 84001 16055 20332 31742 63582 64038 45993 72708 70024 52517 8120 67118 35814 51747 75626 3030 25678 14008 3415 32620 98892 33766 6204 22203 35729 64258 11911 83307 49537 20199 31325 91457 36948 35240 89165 90235 10019 79705 84739 53443 86121 57493 93134 37076 24599 21462 2055 27604 1628 52094 8975 89900 5927 78604 53826 68373 32523 14113 89034 42915 33758 71031 83179 63217 36399 69668 12104 26645 81747 48860 47554 93623 90117 48206 51974 23801 68546 4348 37235 67058 47252 2703 94598 7795 28594 56117 94713 5494 27949 29230 76913 4651 72370 55872 54394 51661 85381 67656 85016 61469 291 65993 23248 84734 30452 70065 44423 38794 78368 40528 42441 63971 71134 420 8848 34872 27966 35301 70676 96123 35435 55663 70354 57405 94151 44536 14000 22697 73439 57136 83738 82684 76169 72608 94200 59574 94057 25928 92597 7700 33691 25614 24597 26567 50123 17019 5803 1953 67537 44419 60708 55997 7180 38990 65793 92228 21641 19047 63824 59324 66749 90502 45969 10523 3815 11046 17855 14136 12271 65980 47326 91958 1156 98988 16735 10149 85471 7407 79167 50700 55473 6589 45406 25253 57355 15674 6474 12325 30436 20030 85846 90092 41446 95306 73412 34724 11237 55084 44090 57891 14036 9563 66365 78351 86332 28907 54604 7497 6670 22707 92640 73048 78266 74609 42975 72211 78314 24745 12223 83230 45944 11516 36551 20827 45197 15174 75566 15491 7079 47831 57581 4404 59517 34743 56241 92339 90206 51571 45637 63994 57894 5560 90545 12437 26120 62597 8694 38181 72674 57330 49808 95768 44480 19241 17286 96566 69133 54834 4962 50285 4310 86394 10086 1562 77458 81582 58291 6120 54276 83690 20256 69714 64425 10264 87632 97230 37560 80852 99964 29086 49702 9534 48650 86312 69239 76293 42529 59580 6123 88001 4229 42892 68519 92930 15550 1392 8217 37997 25441 90353 21595 85126 31479 39454 9611 98110 75682 34554 42632 72148 4385 27035 83048 74910 76613 81914 15200 72737 50675 98516 31518 27305 6522 42172 23374 57590 85366 66179 95846 77203 99709 44197 23004 41341 3423 82417 18476 66480 86498 88880 78277 7010 91072 46226 79571 33439 71334 72758 94659 94887 71281 70847 12560 89727 43634 12565 2984 37325 48361 34455 51550 74594 92550 83989 77753 13614 11949 51420 45935 17751 80393 15470 9004 76377 50532 76608 34042 92265 83957 93711 88911 11039 61047 75995 91310 6936 4041 68578 24422 75807 93338 67190 13507 2033 77483 98383 31332 30461 1477 77003 58259 69141 71028 75043 20873 52553 24332 75897 46120 44299 16209 62202 80082 57270 93137 1783 61245 84897 4791 44941 26269 26799 18869 49081 89317 80097 54416 91696 49728 95105 25990 27139 63195 64897 98329 99277 82964 61870 30083 77953 80209 1772 14106 95197 38246 65265 97698 48614 58550 90371 5799 87258 16108 31821 16351 53939 57733 86621 71068 34577 87988 41875 73316 74635 6306 16492 39455 99258 71449 22267 99689 45911 215 37257 41798 31410 93625 64567 35360 17091 97095 82312 35234 29875 72701 16312 62971 13971 2820 77888 65325 18746 60245 35706 45426 22637 46567 38141 55552 7050 67017 13401 93043 71776 4563 57324 91586 18018 90769 35279 32389 12329 15012 29614 47438 20717 24550 50469 37715 93411 72218 59116 6762 31189 36552 97513 1449 70977 51586 98123 70335 17869 28124 91073 76436 70706 82278 32734 78208 57302 88026 47809 8310 96190 27375 32373 84153 57650 30666 1618 58687 52943 61984 49657 83257 31950 22899 66099 7288 48064 17116 55722 93819 1162 94108 41979 98134 59623 41897 36593 80207 18989 14415 22823 29526 17628 87342 39400 51326 67621 34949 35497 64942 13604 43083 2840 72378 91932 5692 78243 67806 1091 59100 48886 47720 69071 42205 64520 95757 27891 82003 78925 71834 32035 72626 44413 59814 81125 47081 27245 29550 82099 5342 58094 29724 84794 79537 25276 82463 55140 26508 28978 44498 88733 92401 8525 5637 51093 78328 83932 36841 10738 80147 52958 70600 97226 96943 39247 8121 5480 78386 92426 80256 14388 90699 44921 68007 23071 9473 6196 47542 32828 57877 43472 78349 597 93932 65773 70158 57759 18766 41279 23464 70434 31728 31033 63133 94804 55614 65147 33434 12250 34559 17837 19597 69282 63914 35505 45845 34118 23966 62464 92424 38463 21017 66616 78912 69864 30530 68615 786 49978 85746 7714 15163 19777 86514 82507 5200 63482 35476 65606 31871 12946 49985 11483 16573 34518 85474 17525 13723 8962 17165 37433 45053 67843 3323 17247 1924 8665 11482 71229 83425 26091 64530 43188 65816 2616 4880 13983 53815 34616 95887 6810 32515 79399 3432 33028 31353 4131 33898 955 23690 54661 21656 20321 63355 29999 85418 1294 90748 26861 29992 99751 78949 87522 40553 70168 83084 41845 60963 96847 44060 54165 23882 20540 64172 11605 7581 56717 10783 79130 45548 12838 59681 22756 69130 55297 8404 37953 81336 74291 67325 20949 24045 74677 17882 96208 11716 39518 8011 73853 25768 80154 94841 81667 63625 92552 11091 52800 71943 10129 90912 72757 42860 21883 94624 5520 7159 50539 66972 79043 83128 85313 95099 12641 86866 50126 57635 14015 93687 42589 14054 21831 47871 15182 39527 72156 43735 6886 65016 74522 2494 69379 71393 81841 89696 22786 50593 30819 17011 49109 28810 64999 86049 37176 91568 72384 57721 43337 340 36308 35299 93891 38668 16511 88426 9051 84260 60420 43913 59206 54910 51632 60744 47404 40927 14649 1848 11931 97836 99470 53899 20770 22278 74056 30839 30593 74825 3723 52352 73051 14567 65807 8150 45624 54184 76738 5354 98798 81953 15961 85919 92182 37666 35465 1965 70904 39667 70446 65650 92578 39182 64672 96680 96349 76082 64881 54518 16552 96308 64 57129 70670 16771 95181 90231 5572 77331 80501 66337 41774 44960 97711 69446 22160 71893 31378 41076 62316 64055 47867 45340 66251 92282 71986 67598 21310 93990 94135 96879 56938 1817 5811 48326 62389 49901 8521 30532 4353 65116 61281 17306 3863 87470 6384 13504 66361 13125 21089 97054 56051 50744 9809 82630 61512 20961 46976 98601 82648 73199 72623 54047 63425 84648 54808 5256 96572 71005 49516 97895 52097 31837 59520 83670 90776 13701 50062 50686 74914 85194 10099 47396 31050 45362 67110 90893 63665 43915 83638 4261 2322 67209 5863 45956 77365 95229 22638 76711 99336 29288 69250 58022 71345 91841 13493 90352 8205 53436 47021 50147 65313 90691 92365 52921 4210 87926 21169 69838 99746 85357 2851 79242 25026 89361 49734 49303 66130 12150 4258 66263 76563 86469 18242 98042 79332 17612 91670 46796 93299 21514 44098 9094 12156 89787 99065 51287 21019 98283 96902 21675 58403 25256 14261 28331 87519 88504 95094 90861 36127 48073 96115 29506 53351 3192 76186 84373 40196 12135 38487 58349 24309 35137 74133 74273 88857 79387 73216 33137 86442 79097 44484 13739 80117 29481 94442 75390 35801 81217 32236 15971 2071 23825 53754 74689 36833 57932 54229 46004 26249 46131 65872 98402 66666 35640 27502 99379 65870 91761 60341 39662 31496 19365 9994 47637 45596 83132 21712 20954 66045 75942 66233 13169 66909 23924 35539 26869 62439 36202 27537 96395 99561 29659 39478 78948 79437 26147 35771 55155 83487 76291 46344 69763 39369 78720 14732 56155 26133 92129 85078 80234 47121 83214 74343 14729 54130 61818 83860 9720 75660 47545 63695 86915 70252 829 50676 46317 44629 54431 35583 10984 49158 79739 13579 36474 17055 93432 7600 47868 25617 79938 55548 5724 47142 32572 30553 95089 21525 21540 38156 32714 70424 46779 94938 59362 8783 68516 82321 89593 49879 17125 72850 19610 6223 4537 24749 84137 25539 6618 80145 90498 27540 49805 24662 38021 31766 68510 53314 34902 58663 66501 54717 35329 60621 10121 80468 70719 13071 11073 41497 3485 33643 56414 30363 16272 97223 68040 81605 56165 23520 2063 59379 86714 49465 57046 11082 79838 36743 12804 44208 95362 12750 1318 43355 18558 92808 86268 33912 66873 62495 39872 49451 41573 15146 44949 73564 9192 99822 87810 23437 12933 9780 76561 56431 6614 92902 72764 40181 35016 77439 47220 28564 1989 89138 71661 30197 14328 35795 15356 6448 64037 83656 88782 32996 21215 1023 39939 43075 36301 47281 1099 11953 40997 15769 94524 42274 38013 56091 19405 2704 79421 5569 73318 64429 25046 38790 7906 77526 71041 32997 57786 97631 67080 928 30031 47853 72609 19297 70028 18448 82405 48023 19401 63185 45086 43181 62594 79407 24639 63889 93005 96014 58729 55708 21532 39026 96312 65871 49924 25867 1298 556 72733 67198 65284 47040 85731 49897 50130 63107 11423 71775 64525 16405 11017 94261 58350 44566 65893 32005 87857 62561 85759 11796 4435 66921 76542 16075 19010 89920 42115 8514 83726 71997 43107 23959 87866 17785 634 56652 29503 85491 42224 9647 35130 64328 73264 1658 80369 3259 27164 30177 43990 47976 60179 72222 42528 72103 99289 1014 5790 32204 89835 57757 22586 73227 67536 58224 28485 30555 16555 15241 77237 80333 28549 1353 98472 17177 71803 10418 46551 26238 79228 98126 67057 1609 77816 75410 43369 95505 56272 68753 39483 57496 32019 115 44580 13017 88188 96056 35636 84144 77592 20703 4293 8759 81153 62944 13422 45249 84310 36766 71457 23012 99962 28660 26916 26512 62619 40150 47778 63228 71482 98065 50345 99589 48562 44828 76216 55960 58943 74676 34707 86710 64307 66076 36412 28206 85228 32126 21074 16557 5804 29589 2890 24901 26029 77415 21220 45366 62186 1688 9233 62239 54350 441 92529 4620769389373144512 4625640810149058988 4630569963448672169 4630863096637114443 4631429413051682202 4632598769541353685 4632775655506496295 4633360618136582338 4633648435541517533 4633964656739045763 4634107756297672278 4634159651566291330 4634254258673071923 4634261075530973668 4634784515630989139 4635263848322252918 4635326890815222100 4635528550731334865 4635811459877631262 4635881803582287510 4636057398414138472 4636324289468182270 4636410831438969826 4636427608554734500 4636824344913490946 4636871169413060234 4637023672907833538 4637050272523837782 4637147801643181556 4637290883409834120 4637322688410746225 4637395362254741612 4637580023138709300 4638006329617334271 4638091774170825341 4638113352050887328 4638139396595845786 4638232839083414319 4638398596441111465 4638435105465657921 4638737556520455178 4638895469332928934 4639030600696309201 4639070664393189660 4639077402199506714 4639081328438715492 4639088403032139357 4639305445004946647 4639370609215903258]]
Tensor[shape={1, 2049}, stride={2049, 1}, Int64, CUDA:0, 0x502829c00]
2. (Only change the last case 2049 to 2050, Check in GPU)
import open3d as o3d
import numpy as np
device = o3d.core.Device("cuda:0")
pc = np.random.randn(100_000, 3) * 100
pc_o3d_tensor = o3d.core.Tensor(pc, device=device)
pc_nns = o3d.core.nns.NearestNeighborSearch(pc_o3d_tensor.clone())
pc_nns_knn_index_init_flag = pc_nns.knn_index()
print(pc_nns_knn_index_init_flag)
pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=3)
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=3 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=3 KNN < pc.shape[0] check")
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2000 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2000 KNN < pc.shape[0] check"), f"{indices}"
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2048)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2048 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2048 KNN < pc.shape[0] check")
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2050)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2050 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2050 KNN < pc.shape[0] check")
My Output:
Jupyter environment detected. Enabling Open3D WebVisualizer.
[Open3D INFO] WebRTC GUI backend enabled.
[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.
True
Pass k=3 KNN >= 0 check
Pass k=3 KNN < pc.shape[0] check
Pass k=2000 KNN >= 0 check
Pass k=2000 KNN < pc.shape[0] check
Pass k=2048 KNN >= 0 check
Pass k=2048 KNN < pc.shape[0] check
Pass k=2050 KNN >= 0 check
---------------------------------------------------------------------------
AssertionError Traceback (most recent call last)
Cell In[1], line 33
31 assert (indices >= 0).all(), f"{indices}"
32 print("Pass k=2050 KNN >= 0 check")
---> 33 assert (indices < pc.shape[0]).all(), f"{indices}"
34 print("Pass k=2050 KNN < pc.shape[0] check")
AssertionError: [[74461 90617 7531 16386 71567 25275 17630 808 82142 33963 64043 94905 42460 9119 33779 69952 2749 16129 74128 28772 67107 46275 53184 4078 57247 69233 61313 94042 77518 96504 3227 60171 23087 65852 68792 22938 29474 20900 72169 78319 62495 6305 69907 27232 64322 75999 97368 34671 65441 12127 79023 73431 48346 36913 61741 34352 37433 97411 77867 25105 45644 23329 89319 52014 4728 83846 50993 83961 49589 69234 96698 45261 9118 98582 37599 37917 8930 68578 86829 71343 93927 36099 58901 3840 66629 47751 65711 54085 95044 93425 99532 25681 40970 4230 42427 99436 52608 83268 2109 33835 90433 75700 63772 83823 98657 38004 36007 83623 53704 87210 731 97762 76327 49414 65183 1196 93448 25644 84778 29395 25843 84053 78792 93547 58484 57061 73891 11083 54726 56793 69646 31034 45583 19597 70278 95638 36271 44208 6816 90504 13485 82226 66231 11216 57951 29658 31736 84574 342 45501 31711 83166 13892 78651 86976 16142 60900 98811 45063 48320 32400 31518 40895 88286 74670 87396 19366 68609 20854 27260 12814 9822 79940 58281 5607 46727 71386 72237 14771 9191 46021 16941 75741 11747 62869 75993 82212 81639 2306 54035 63442 22912 99052 24842 50378 91917 65352 59349 89722 52032 84364 66335 88410 43256 21343 37875 45737 62369 22003 79784 33588 11254 51326 25183 15995 80969 83362 29733 19380 47286 36565 41249 66961 4867 35545 30827 24968 782 49754 46464 75956 10964 86015 50563 6543 903 15090 58090 75196 15576 90731 8411 38555 59087 83750 41875 95382 6811 70821 27677 12856 21173 90773 62252 29855 2145 76210 45133 29985 2608 51827 13308 94933 8175 46056 60076 37752 13489 20912 98210 43270 74825 48106 47396 61516 20427 86482 51403 49299 69283 77062 10431 98525 49010 70163 7289 68241 24219 3995 39919 26698 48836 99247 28839 66916 71121 58984 89868 56650 53422 26937 28036 41013 55541 59923 52148 80816 56293 34551 29543 9418 79537 66882 581 9235 74668 4822 20951 59862 43970 2834 59846 91441 70462 90031 35989 33972 48556 94922 32281 45990 6091 20281 3690 13571 25968 8077 67024 26517 35353 70961 23198 72921 94690 41317 12690 88989 52454 27867 14931 64951 50320 16533 22657 41234 89017 69806 40512 23837 86001 37057 64959 35738 8521 19824 67131 92769 8151 90829 76227 37872 79721 61907 68664 54678 7180 38254 8897 88348 56467 67498 86378 68723 57934 45721 24402 69408 68748 16448 12610 54240 57523 14179 8653 40036 94530 52721 98859 59911 38582 95639 35723 31567 42205 75124 30739 4898 92288 90378 21779 80475 1099 41575 90297 66870 52552 40021 8949 81646 663 86926 55226 66843 27535 42595 12291 54617 64147 25800 23379 43508 41051 91043 48886 16205 22401 48381 7986 36347 13376 31155 60600 44013 6165 89903 37563 30637 37869 89234 68330 23029 39268 8896 19975 76402 46910 27179 3418 38328 15172 68638 80789 17241 78262 35659 38352 7297 84953 52446 60658 57422 78460 73898 26273 28478 47416 75941 52979 67500 97522 90464 23683 33433 92161 32557 38132 12540 37724 49050 65827 48644 57473 83072 31085 19485 30731 27721 91226 18812 63507 43065 75466 39621 31617 28553 98505 4390 86374 92335 46254 61243 65105 89787 74523 4751 77361 33108 4075 98005 21969 73486 33843 93183 34016 95897 84162 8727 93385 28263 39314 32720 92839 71681 4392 76760 56759 3735 17810 70293 54803 54243 80573 17894 45499 33612 4148 77823 23128 98159 84482 98246 98066 89788 1346 13929 89417 85328 49775 99574 49220 44660 80704 12787 15331 28643 50947 75550 83264 53896 76389 3639 65690 72375 26371 49961 63267 13310 24143 90806 38530 64953 39789 89370 59658 11586 87362 75685 31314 70878 75095 47417 13602 24388 84198 56880 63138 72507 77717 70903 79025 75468 97 19044 37889 76644 6284 53202 37537 30693 87587 88022 58046 6244 97804 56254 87451 86766 43430 67901 40660 24558 93048 92275 78613 42061 97134 91128 11442 8170 21684 3553 77182 21486 61685 35236 56039 52236 94383 97723 7408 67843 60324 40597 98647 89817 38748 49769 84051 52550 76425 78894 15247 46126 50366 57605 90690 45593 89789 88179 82195 97458 5146 60051 23766 94791 44350 74588 14008 27710 60917 51368 37837 56551 3728 78076 43963 73925 94210 81420 56735 9253 53801 58918 30011 58102 23180 41765 93692 87073 83125 72894 15805 16335 44863 52229 33142 56611 64050 2405 90166 56091 19636 48988 11850 80397 44369 79788 83013 35648 63665 28990 15922 69175 91243 50680 93921 71966 4181 47521 12112 70743 62401 15477 93231 40451 80087 32875 5362 21682 54852 64498 9729 74413 98730 27927 21929 40053 48853 33542 10608 185 46398 83005 77877 53611 89528 58146 37364 6901 36817 9700 23752 58505 89765 56748 47525 89083 56429 44885 63934 9370 82554 81091 34448 35625 98794 7313 86352 11993 50030 4054 99251 40109 66627 88906 34315 94657 50907 97934 43695 36128 64848 41321 25670 79122 66901 57959 91041 98584 1944 76619 48711 46340 75664 65130 84257 8730 24009 75915 14712 87847 50961 41903 74113 93264 21593 33352 15950 20335 24184 21005 63142 18197 97937 11471 39684 47110 14274 28573 27715 21979 76924 59567 13508 64968 54188 64520 29934 5387 36674 41791 31623 6900 11612 36932 64610 68786 77821 40122 64932 52074 23398 45263 39819 68254 28925 30707 45012 27501 4299 93030 12789 6731 61285 57459 20187 23996 89351 47759 62337 66762 42104 27617 33326 35201 46066 83474 9124 30562 44733 24779 7754 60444 2500 85184 50592 76798 40 27424 89401 20786 65623 31317 12584 17247 50042 10429 19539 81319 96501 87822 67658 54912 13977 77495 40806 79799 62259 68529 25820 73241 92409 9845 63421 34471 96999 72112 87252 85448 89389 6971 48579 2933 39061 20468 72530 83836 58873 15992 63297 29251 29577 6815 67870 16687 29553 80369 37985 19703 3102 5601 3536 16353 28751 62174 61361 85666 13598 66437 11708 2203 16044 76367 27769 50536 93707 65271 10066 27381 60311 16381 16105 90362 38676 21788 90234 60295 3727 17587 13634 79718 9190 50936 75294 63609 24014 55490 45225 25200 2323 50022 54369 27126 57185 6964 17934 45606 73388 5365 2077 89063 91399 4396 56495 13633 27083 23739 10199 65813 21294 62945 23640 8877 49052 44948 5086 54909 93628 65100 61020 28012 55008 52840 8848 98599 14263 36846 65011 53380 5893 38519 22654 16008 74059 25525 17266 91589 2778 47301 12383 50914 41262 37505 33395 48602 50131 21263 94429 25460 22895 83456 22200 18046 65350 84763 84268 57893 79903 59489 15469 71439 31346 61768 63556 99026 63139 27184 24142 15085 52515 780 34368 77676 76768 19951 54855 93049 25135 63579 45815 61332 56045 34752 41139 90520 44141 58547 24871 33695 90458 9872 35912 60094 28046 30509 92174 12521 71127 13018 861 49737 33106 31236 13813 75347 91372 45102 37027 8786 76275 72873 31952 21197 77479 56192 56809 49710 42048 37493 20845 82429 58029 55073 29022 11059 30543 90546 6884 58690 98224 51531 5343 66230 72955 74901 74418 12191 73958 38416 44632 90499 15021 51488 90181 36940 54887 90347 22198 33663 53308 58752 62948 87835 287 62777 58333 23255 22309 55588 32841 7973 50782 72531 74146 31849 59392 29711 32975 55804 44460 75500 82060 18609 62169 20145 99676 95703 86876 99271 41201 47532 77452 33596 82396 32578 31761 61540 43075 68244 19631 71527 99216 39609 28185 97132 48864 35176 97944 74585 28298 54834 58386 37245 93911 2066 51842 82147 98515 3722 33035 57868 50550 35499 46337 29492 77503 81086 30678 25456 39688 96563 62263 21824 11909 5411 28607 80747 62976 50490 49167 55229 38535 67830 29103 67740 99327 38564 99121 36725 1722 73464 50568 94641 99428 1240 7862 41491 88101 77299 62974 723 17356 68400 61577 98601 18988 74322 63068 60701 34757 75034 456 44585 65730 69467 71207 49310 87630 61525 2364 30150 9810 64996 36559 1494 66394 72778 21805 49244 86789 59825 62308 63169 63928 41940 55117 5759 8047 24291 71612 15019 88451 16616 61615 69 17 51202 48300 21950 60577 30894 3938 26861 28407 3182 9378 96234 26608 47526 60114 53579 62991 38030 77039 82464 90906 66237 13062 53045 76555 34685 47129 78766 355 91768 84644 52201 41512 75165 75203 45629 68315 55542 3573 22182 19294 97157 31474 80687 44972 39890 65257 15588 56472 54867 50893 91933 16101 56066 53421 91361 11557 43518 59016 87585 14802 22793 40946 65363 92553 97288 36500 92238 16239 12987 64660 54701 13866 92142 48282 49149 94331 57946 7467 77443 36569 78293 86297 83390 72265 84639 55001 93416 42238 48412 94875 56990 59139 66754 30735 52264 45771 99710 86302 20613 97427 15758 59465 30829 14994 34298 53769 71566 43741 78683 40101 57278 60170 85015 98563 3203 21721 46639 1700 5218 11970 87719 16399 42615 11971 35690 24020 12161 8378 84360 10756 97892 67074 56905 369 10871 39154 34179 33267 59386 75368 59493 62355 19554 52791 76732 24033 52546 19750 14629 19191 96123 98960 55063 3763 9915 89480 44987 53186 8034 97464 96958 73510 91384 32192 14212 57410 38986 5285 20045 55580 19455 10012 77131 17694 60583 89363 12022 9248 22567 1609 90255 3628 90050 83705 69516 61298 24306 56928 47782 84267 99545 13509 75491 69075 8054 12159 77947 17571 88844 90486 20479 83747 74623 64608 83339 51883 79237 33948 92835 81544 85106 69496 10752 60548 9337 75406 27562 41611 86145 4239 7780 29366 8764 651 53601 46230 89484 53954 27009 21451 30671 16474 71985 40241 4553 53789 78064 99943 81243 89990 72063 50633 77726 9319 31587 11221 17899 34321 85993 16500 88664 12678 58558 839 81729 83363 49158 53603 56675 58665 6271 77415 10815 72140 75099 45344 29610 43265 82641 94358 21478 44698 37559 11592 94142 55646 74573 44855 24000 72643 437 15257 20244 27966 13268 11248 40468 73964 14444 12679 73497 34140 83619 45211 80657 39471 4640 15952 99077 22277 67573 91671 52215 38302 51615 68040 24528 96422 73625 81220 52713 31016 53523 24504 70484 66493 12591 7231 30098 97153 26468 28970 17117 57767 19979 43715 33089 23848 89273 73336 46520 5743 6114 77184 21107 52948 89695 96675 57843 14054 39023 88527 30795 18695 69949 12210 47176 22626 41192 42485 41427 14455 45560 20173 23949 34271 41000 28869 50933 77879 96328 11133 50027 6253 35988 6732 52001 48899 39078 32633 97293 5571 42579 26995 72036 69744 26193 90289 76747 96128 27699 61223 19084 24279 39723 63518 78102 69182 86369 85927 4388 76013 20115 13982 50896 72935 20732 81299 47767 65265 25048 27351 53914 37936 98965 71375 34731 68170 82538 20887 26113 63713 22431 75616 52874 29897 12874 13719 25997 67346 37543 48975 99060 78344 93583 72337 79401 34399 18642 12962 42391 4056 58222 70461 93839 92767 24317 30104 83085 58655 94925 28007 96137 28330 48309 69037 50444 39041 46246 49712 78080 1895 24935 8121 81183 56235 69802 7280 72965 36753 61080 15433 3071 88457 56422 39910 30229 27499 6546 86534 90407 78098 40475 56094 51669 22616 40859 45335 30272 77642 86395 58896 52508 44250 14884 76150 27106 57719 56615 67784 50389 26663 26842 40246 3854 36591 26078 42558 13241 29139 9021 12813 99381 44427 29511 44583 21519 67575 28788 33081 4983 72847 85839 63509 88372 15325 59780 57908 93481 9909 11941 93365 21644 20112 84055 11869 59532 23449 36020 65048 51941 29486 93992 57694 57990 37227 71392 39499 8483 44261 40346 78194 94539 31167 76076 57521 73474 85378 57350 62629 78747 94990 22089 36040 56450 71145 48582 12776 18504 62801 52130 36900 55089 81057 38437 66038 72397 99244 83910 54112 7015 12354 86453 22922 68450 61827 75321 27169 41056 7218 55595 55882 6874 50189 74060 58724 14848 19464 47350 39284 97112 99277 76717 64008 19383 33449 75243 23043 91450 75259 80038 1958 88637 75207 52951 24891 44919 54428 57800 97680 78565 63353 20500 64111 50271 17045 75542 48194 28234 32055 94519 33632 10097 59160 66855 15044 82807 94426 9809 46768 98516 48961 75830 26101 20446 95963 84065 51940 91093 64325 5766 5193 66607 10530 94510 69812 63004 52691 59294 17190 13510 99935 37351 72076 95333 27128 87679 2861 50619 55213 7257 10057 79734 93830 45283 63804 22440 6058 5139 48319 73579 38436 34802 4003 63693 56050 27725 11919 1527 81003 16201 30438 19136 84781 74860 62357 29731 1418 2808 67473 56233 7657 94418 83054 30839 31592 41999 55630 35409 55411 15454 60499 34008 29929 25413 92988 12237 70750 6727 67872 96161 41148 3153 28769 35367 17585 13780 35716 4495 88896 62034 47087 97589 74003 4603815957760447141 4616603419260915676 4626625346116237987 4627015577965217986 4627149958782568984 4628077572437529129 4628153649043757937 4629205335654668124 4629474873312531780 4630025815438797442 4630120446060594544 4631147280370174060 4631264149671373022 4632674812307830026 4632917589497694582 4633063170208308418 4633141707120017207 4633146905221544435 4633408566379185490 4634578214441207868 4634716234404428553 4634912726003967880 4635047395667126921 4635083843630625849 4635207642265840057 4635584387736172579 4635744351153849792 4635797534014105302 4636120106238787489 4636309180524053357 4636390034296312285 4636798484413698408 4637053052122686433 4637822276293400260 4637966481684768028 4638118174434097394 4638528369000022873 4638635936408926623 4638886169534196782 4639013074059152378 4639020079085033582 4639028700445388738 4639030581976839362 4639113185635877078 4639162288766843885 4639197388547164949 4639291901458853480 4639338911182229568 4639357481887903462 4639365527164697969]]
Tensor[shape={1, 2050}, stride={2050, 1}, Int64, CUDA:0, 0x502829c00]
3. (Change to a much larger number -> 4096), using GPU
Put at a new comment since Body Char Number Limitation.
4. (Check in CPU, by change the device from cuda:0 into cpu:0)
import open3d as o3d
import numpy as np
device = o3d.core.Device("cpu:0")
pc = np.random.randn(100_000, 3) * 100
pc_o3d_tensor = o3d.core.Tensor(pc, device=device)
pc_nns = o3d.core.nns.NearestNeighborSearch(pc_o3d_tensor.clone())
pc_nns_knn_index_init_flag = pc_nns.knn_index()
print(pc_nns_knn_index_init_flag)
pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=3)
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=3 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=3 KNN < pc.shape[0] check")
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2000 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2000 KNN < pc.shape[0] check"), f"{indices}"
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2048)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2048 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2048 KNN < pc.shape[0] check")
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2049)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2049 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2049 KNN < pc.shape[0] check")
My Output:
Jupyter environment detected. Enabling Open3D WebVisualizer.
[Open3D INFO] WebRTC GUI backend enabled.
[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.
True
Pass k=3 KNN >= 0 check
Pass k=3 KNN < pc.shape[0] check
Pass k=2000 KNN >= 0 check
Pass k=2000 KNN < pc.shape[0] check
Pass k=2048 KNN >= 0 check
Pass k=2048 KNN < pc.shape[0] check
Pass k=2049 KNN >= 0 check
Pass k=2049 KNN < pc.shape[0] check
5. (Change to a larger number -> 4096, using CPU)
import open3d as o3d
import numpy as np
device = o3d.core.Device("cpu:0")
pc = np.random.randn(100_000, 3) * 100
pc_o3d_tensor = o3d.core.Tensor(pc, device=device)
pc_nns = o3d.core.nns.NearestNeighborSearch(pc_o3d_tensor.clone())
pc_nns_knn_index_init_flag = pc_nns.knn_index()
print(pc_nns_knn_index_init_flag)
pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=3)
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=3 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=3 KNN < pc.shape[0] check")
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2000)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2000 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2000 KNN < pc.shape[0] check"), f"{indices}"
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=2048)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=2048 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=2048 KNN < pc.shape[0] check")
indices, _ = pc_nns.knn_search(o3d.core.Tensor([[0., 0., 0.]], device=device), knn=4096)
assert (indices >= 0).all(), f"{indices}"
print("Pass k=4096 KNN >= 0 check")
assert (indices < pc.shape[0]).all(), f"{indices}"
print("Pass k=4096 KNN < pc.shape[0] check")
My Output:
Jupyter environment detected. Enabling Open3D WebVisualizer.
[Open3D INFO] WebRTC GUI backend enabled.
[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.
True
Pass k=3 KNN >= 0 check
Pass k=3 KNN < pc.shape[0] check
Pass k=2000 KNN >= 0 check
Pass k=2000 KNN < pc.shape[0] check
Pass k=2048 KNN >= 0 check
Pass k=2048 KNN < pc.shape[0] check
Pass k=4096 KNN >= 0 check
Pass k=4096 KNN < pc.shape[0] check
Error message
No response
Expected behavior
No response
Open3D, Python and System information
Environment:
CPU: Intel(R) Core(TM) i9-10900X CPU @ 3.70GHz
GPU: NVIDIA GeForce RTX 3090
OS:
Distributor ID: Ubuntu
Description: Ubuntu 22.04.5 LTS
Release: 22.04
Codename: jammynVidia Driver:
NVIDIA-SMI 550.54.14 Driver Version: 550.54.14 CUDA Version: 12.4
Conda Environment:
# packages in environment at /home/$USER/.conda/envs/open3d:
#
# Name Version Build Channel
_libgcc_mutex 0.1 main
_openmp_mutex 5.1 1_gnu
addict 2.4.0 pypi_0 pypi
argon2-cffi 23.1.0 pypi_0 pypi
argon2-cffi-bindings 21.2.0 pypi_0 pypi
arrow 1.3.0 pypi_0 pypi
asttokens 3.0.0 pypi_0 pypi
async-lru 2.0.5 pypi_0 pypi
attrs 25.3.0 pypi_0 pypi
av 14.4.0 pypi_0 pypi
babel 2.17.0 pypi_0 pypi
beautifulsoup4 4.13.4 pypi_0 pypi
bleach 6.2.0 pypi_0 pypi
blinker 1.9.0 pypi_0 pypi
bzip2 1.0.8 h5eee18b_6
ca-certificates 2025.2.25 h06a4308_0
certifi 2025.4.26 pypi_0 pypi
cffi 1.17.1 pypi_0 pypi
charset-normalizer 3.4.2 pypi_0 pypi
comm 0.2.2 pypi_0 pypi
configargparse 1.7.1 pypi_0 pypi
contourpy 1.3.2 pypi_0 pypi
cycler 0.12.1 pypi_0 pypi
dash 3.0.4 pypi_0 pypi
debugpy 1.8.14 pypi_0 pypi
decorator 5.2.1 pypi_0 pypi
executing 2.2.0 pypi_0 pypi
expat 2.7.1 h6a678d5_0
fastjsonschema 2.21.1 pypi_0 pypi
filelock 3.13.1 pypi_0 pypi
flask 3.0.3 pypi_0 pypi
fonttools 4.58.0 pypi_0 pypi
fqdn 1.5.1 pypi_0 pypi
fsspec 2024.6.1 pypi_0 pypi
h11 0.16.0 pypi_0 pypi
httpcore 1.0.9 pypi_0 pypi
httpx 0.28.1 pypi_0 pypi
idna 3.10 pypi_0 pypi
ipykernel 6.29.5 pypi_0 pypi
ipython 9.2.0 pypi_0 pypi
ipython-pygments-lexers 1.1.1 pypi_0 pypi
ipywidgets 8.1.7 pypi_0 pypi
isoduration 20.11.0 pypi_0 pypi
itsdangerous 2.2.0 pypi_0 pypi
jedi 0.19.2 pypi_0 pypi
joblib 1.5.1 pypi_0 pypi
json5 0.12.0 pypi_0 pypi
jsonpointer 3.0.0 pypi_0 pypi
jsonschema 4.23.0 pypi_0 pypi
jsonschema-specifications 2025.4.1 pypi_0 pypi
jupyter-client 8.6.3 pypi_0 pypi
jupyter-core 5.7.2 pypi_0 pypi
jupyter-events 0.12.0 pypi_0 pypi
jupyter-lsp 2.2.5 pypi_0 pypi
jupyter-server 2.16.0 pypi_0 pypi
jupyter-server-terminals 0.5.3 pypi_0 pypi
jupyterlab 4.4.3 pypi_0 pypi
jupyterlab-pygments 0.3.0 pypi_0 pypi
jupyterlab-server 2.27.3 pypi_0 pypi
jupyterlab-widgets 3.0.15 pypi_0 pypi
kiwisolver 1.4.8 pypi_0 pypi
ld_impl_linux-64 2.40 h12ee557_0
libffi 3.4.4 h6a678d5_1
libgcc-ng 11.2.0 h1234567_1
libgomp 11.2.0 h1234567_1
libstdcxx-ng 11.2.0 h1234567_1
libuuid 1.41.5 h5eee18b_0
markdown-it-py 3.0.0 pypi_0 pypi
matplotlib 3.10.3 pypi_0 pypi
matplotlib-inline 0.1.7 pypi_0 pypi
mdurl 0.1.2 pypi_0 pypi
mistune 3.1.3 pypi_0 pypi
mpmath 1.3.0 pypi_0 pypi
narwhals 1.41.0 pypi_0 pypi
nbclient 0.10.2 pypi_0 pypi
nbconvert 7.16.6 pypi_0 pypi
nbformat 5.10.4 pypi_0 pypi
ncurses 6.4 h6a678d5_0
nest-asyncio 1.6.0 pypi_0 pypi
networkx 3.3 pypi_0 pypi
notebook-shim 0.2.4 pypi_0 pypi
numpy 2.1.2 pypi_0 pypi
nvidia-cublas-cu12 12.4.5.8 pypi_0 pypi
nvidia-cuda-cupti-cu12 12.4.127 pypi_0 pypi
nvidia-cuda-nvrtc-cu12 12.4.127 pypi_0 pypi
nvidia-cuda-runtime-cu12 12.4.127 pypi_0 pypi
nvidia-cudnn-cu12 9.1.0.70 pypi_0 pypi
nvidia-cufft-cu12 11.2.1.3 pypi_0 pypi
nvidia-curand-cu12 10.3.5.147 pypi_0 pypi
nvidia-cusolver-cu12 11.6.1.9 pypi_0 pypi
nvidia-cusparse-cu12 12.3.1.170 pypi_0 pypi
nvidia-cusparselt-cu12 0.6.2 pypi_0 pypi
nvidia-nccl-cu12 2.21.5 pypi_0 pypi
nvidia-nvjitlink-cu12 12.4.127 pypi_0 pypi
nvidia-nvtx-cu12 12.4.127 pypi_0 pypi
open3d 0.19.0 pypi_0 pypi
opencv-python 4.11.0.86 pypi_0 pypi
openssl 3.0.16 h5eee18b_0
overrides 7.7.0 pypi_0 pypi
packaging 25.0 pypi_0 pypi
pandas 2.2.3 pypi_0 pypi
pandocfilters 1.5.1 pypi_0 pypi
parso 0.8.4 pypi_0 pypi
pexpect 4.9.0 pypi_0 pypi
pillow 11.0.0 pypi_0 pypi
pip 25.1 pyhc872135_2
platformdirs 4.3.8 pypi_0 pypi
plotly 6.1.2 pypi_0 pypi
prompt-toolkit 3.0.51 pypi_0 pypi
ptyprocess 0.7.0 pypi_0 pypi
pure-eval 0.2.3 pypi_0 pypi
pycparser 2.22 pypi_0 pypi
pygments 2.19.1 pypi_0 pypi
pyparsing 3.2.3 pypi_0 pypi
pyquaternion 0.9.9 pypi_0 pypi
python 3.12.9 h5148396_0
python-json-logger 3.3.0 pypi_0 pypi
pyyaml 6.0.2 pypi_0 pypi
readline 8.2 h5eee18b_0
referencing 0.36.2 pypi_0 pypi
requests 2.32.3 pypi_0 pypi
retrying 1.3.4 pypi_0 pypi
rfc3339-validator 0.1.4 pypi_0 pypi
rfc3986-validator 0.1.1 pypi_0 pypi
rich 14.0.0 pypi_0 pypi
rpds-py 0.25.1 pypi_0 pypi
scikit-learn 1.6.1 pypi_0 pypi
scipy 1.15.3 pypi_0 pypi
send2trash 1.8.3 pypi_0 pypi
setuptools 78.1.1 py312h06a4308_0
small-gicp 1.0.0 pypi_0 pypi
soupsieve 2.7 pypi_0 pypi
sqlite 3.45.3 h5eee18b_0
stack-data 0.6.3 pypi_0 pypi
sympy 1.13.1 pypi_0 pypi
terminado 0.18.1 pypi_0 pypi
threadpoolctl 3.6.0 pypi_0 pypi
tinycss2 1.4.0 pypi_0 pypi
tk 8.6.14 h39e8969_0
torch 2.6.0+cu124 pypi_0 pypi
torchaudio 2.6.0+cu124 pypi_0 pypi
torchvision 0.21.0+cu124 pypi_0 pypi
tornado 6.5 pypi_0 pypi
tqdm 4.67.1 pypi_0 pypi
traitlets 5.14.3 pypi_0 pypi
triton 3.2.0 pypi_0 pypi
types-python-dateutil 2.9.0.20250516 pypi_0 pypi
tzdata 2025.2 pypi_0 pypi
uri-template 1.3.0 pypi_0 pypi
urllib3 2.4.0 pypi_0 pypi
wcwidth 0.2.13 pypi_0 pypi
webcolors 24.11.1 pypi_0 pypi
webencodings 0.5.1 pypi_0 pypi
websocket-client 1.8.0 pypi_0 pypi
werkzeug 3.0.6 pypi_0 pypi
wheel 0.45.1 py312h06a4308_0
widgetsnbextension 4.0.14 pypi_0 pypi
xz 5.6.4 h5eee18b_1
zlib 1.2.13 h5eee18b_1
Additional information
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