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Failed to run puma_pipepline on our datasets.

See original GitHub issue

Hello there,

I have successfully run the demo on docker. But when I try to run it on two of our datasets, it would have the same error running the puma_pipeline. The error information are as follows:

Creating puma_apps_run ... done
Results will be saved to results/kitti-odometry_07_depth_10_cropped_p2l_raycasting.txt
[scan #30] Running PSR over local_map:  74%|█████████████████████▌       [00:04<00:01,  6.67 scans/s]
Traceback (most recent call last):
  File "./pipelines/slam/puma_pipeline.py", line 176, in <module>
    main()
  File "/usr/local/lib/python3.8/dist-packages/click/core.py", line 829, in __call__
    return self.main(*args, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/click/core.py", line 782, in main
    rv = self.invoke(ctx)
  File "/usr/local/lib/python3.8/dist-packages/click/core.py", line 1066, in invoke
    return ctx.invoke(self.callback, **ctx.params)
  File "/usr/local/lib/python3.8/dist-packages/click/core.py", line 610, in invoke
    return callback(*args, **kwargs)
  File "./pipelines/slam/puma_pipeline.py", line 156, in main
    mesh, _ = create_mesh_from_map(
  File "/usr/local/lib/python3.8/dist-packages/puma/mesh/poisson.py", line 46, in create_mesh_from_map
    return run_poisson(pcd, depth, n_threads, min_density)
  File "/usr/local/lib/python3.8/dist-packages/puma/mesh/poisson.py", line 37, in run_poisson
    vertices_to_remove = densities < np.quantile(densities, min_density)
  File "<__array_function__ internals>", line 5, in quantile
  File "/usr/local/lib/python3.8/dist-packages/numpy/lib/function_base.py", line 3930, in quantile
    return _quantile_unchecked(
  File "/usr/local/lib/python3.8/dist-packages/numpy/lib/function_base.py", line 3937, in _quantile_unchecked
    r, k = _ureduce(a, func=_quantile_ureduce_func, q=q, axis=axis, out=out,
  File "/usr/local/lib/python3.8/dist-packages/numpy/lib/function_base.py", line 3515, in _ureduce
    r = func(a, **kwargs)
  File "/usr/local/lib/python3.8/dist-packages/numpy/lib/function_base.py", line 4050, in _quantile_ureduce_func
    n = np.isnan(ap[-1])
IndexError: index -1 is out of bounds for axis 0 with size 0
ERROR: 1