TypeError: SetColor argument 1: expected a sequence of 3 values, got 87749 values

[guanjinglu]

大佬您好，我在使用以下命令进行Lidar仿真时出现了报错TypeError: SetColor argument 1: expected a sequence of 3 values, got 87749 values

python code_single/tools/render.py --resume_dir logs/streetsurf/seg100613.withmask_withlidar_exp1/ --no_cam --render_lidar --lidar_model=original_reren --lidar_id=lidar_TOP --lidar_forward_inv_s=64000.0

具体报错信息如下：

2024-01-30 09:49:16,044-rk0-render.py#169:=> args.stop_frame is set to 163
2024-01-30 09:49:16,132-rk0-render.py#537:Start [replay], ds=1.0, in logs/streetsurf/seg100613.withmask_withlidar_exp1/
rendering frames...:   0%|                                                                                           | 0/163 [00:01<?, ?it/s]
Traceback (most recent call last):
  File "code_single/tools/render.py", line 812, in <module>
    main_function(bc.parse())
  File "code_single/tools/render.py", line 549, in main_function
    im = render_pcl(scene, frame_ind)
  File "code_single/tools/render.py", line 395, in render_pcl
    pcl_pred = vedo.Points(lidar_pts_np, c=lidar_vis_rgba, r=args.lidar_vis_radius)
  File "/usr/local/lib/python3.8/dist-packages/vedo/pointcloud.py", line 610, in __init__
    self.properties.SetColor(colors.get_color(c))
TypeError: SetColor argument 1: expected a sequence of 3 values, got 87749 values

根据终端的提示，好象是在pcl_pred = vedo.Points(lidar_pts_np, c=lidar_vis_rgba, r=args.lidar_vis_radius)这一步中，vedo库中的函数接口与代码中的输入之间出现了不适配的情况，在将我的vedo更新到最新版本后依然会存在该问题，如果将代码中可视化相关的代码直接注释则会出现Aborted (core dumped)问题，所以：

（1）想请教一下大佬之前是否遇到过类似的问题，给我提供一些排查错误的思路

（2）或者能否提供一下您的代码环境，目前我的环境是torch1.11.0+cu113、python3.8、vedo=2023.5.0

（3）另，我目前使用的是Docker环境，不知道是否存在影响

期待大佬空闲的时候能帮忙解答一下，十分感谢！

[guanjinglu]

更换了vedo的版本为vedo==v2023.4.3，解决了TypeError: SetColor argument 1: expected a sequence of 3 values, got 87749 values问题。

但是在进入到函数pcl_im = plt_lidar.topicture().tonumpy()后出现了Aborted (core dumped)错误，使用gdb调试出现一堆和vtk相关的内容：

#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1  0x00007fb2f508c859 in __GI_abort () at abort.c:79
#2  0x00007fb11bbe5705 in vtkXOpenGLRenderWindow::CreateAWindow() () from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingOpenGL2-9.3.so
#3  0x00007fb11bbe1853 in vtkXOpenGLRenderWindow::WindowInitialize() () from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingOpenGL2-9.3.so
#4  0x00007fb11bbe7466 in vtkXOpenGLRenderWindow::Start() () from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingOpenGL2-9.3.so
#5  0x00007fb11d98f145 in vtkRenderWindow::Render() () from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingCore-9.3.so
#6  0x00007fb11bb37cba in vtkOpenGLRenderWindow::Render() () from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingOpenGL2-9.3.so
#7  0x00007fb11bbe7a20 in vtkXOpenGLRenderWindow::Render() () from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingOpenGL2-9.3.so
#8  0x00007fb11d9c9a5b in vtkWindowToImageFilter::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector*) ()
   from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingCore-9.3.so
#9  0x00007fb11d9ca731 in vtkWindowToImageFilter::ProcessRequest(vtkInformation*, vtkInformationVector**, vtkInformationVector*) ()
   from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkRenderingCore-9.3.so
#10 0x00007fb120a30e23 in vtkExecutive::CallAlgorithm(vtkInformation*, int, vtkInformationVector**, vtkInformationVector*) ()
   from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkCommonExecutionModel-9.3.so
#11 0x00007fb120a28f59 in vtkDemandDrivenPipeline::ExecuteData(vtkInformation*, vtkInformationVector**, vtkInformationVector*) ()
   from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkCommonExecutionModel-9.3.so
#12 0x00007fb120a259a9 in vtkCompositeDataPipeline::ExecuteData(vtkInformation*, vtkInformationVector**, vtkInformationVector*) ()
   from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkCommonExecutionModel-9.3.so
#13 0x00007fb120a2cc17 in vtkDemandDrivenPipeline::ProcessRequest(vtkInformation*, vtkInformationVector**, vtkInformationVector*) ()
   from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkCommonExecutionModel-9.3.so
#14 0x00007fb120a6fd05 in vtkStreamingDemandDrivenPipeline::ProcessRequest(vtkInformation*, vtkInformationVector**, vtkInformationVector*) ()
   from /usr/local/lib/python3.8/dist-packages/vtkmodules/libvtkCommonExecutionModel-9.3.so

所以想到报错是不是和vtk的版本相关？大佬看到后能否提供一下相关的版本让我参考一下？十分感谢！