Segmentation fault when importing first PyTorch 2.2.2 and then Open3D 0.18.0

[dgcnz]

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 main branch).

Describe the issue

Importing torch and then open3d in that order causes a segmentation fault.

Steps to reproduce the bug

First install packages:

$ pip install open3d torch

To reproduce the bug, first import torch and then open3d:

$ python -c "import torch;import open3d;print('ok')"
OMP: Error #179: Function pthread_mutex_init failed:
OMP: System error #22: Invalid argument
zsh: segmentation fault  python -c "import torch;import open3d;print('ok')"

This however doesn't reproduce in the opposite order:

$ python -c "import open3d;import torch;print('ok')"
ok

Error message

OMP: Error #179: Function pthread_mutex_init failed:
OMP: System error #22: Invalid argument
zsh: segmentation fault  python -c "import torch;import open3d;print('ok')"

Expected behavior

The order of imports should not matter and it should not throw a segfault.

Open3D, Python and System information

- Operating system:  macOS Sonoma 14.0
- Python version: Python 3.10.12
- Open3D version: 0.18.0
- System architecture: apple-silicon (m1 pro)
- Is this a remote workstation?: no
- How did you install Open3D?: pip
- Compiler version (if built from source): Not relevant

Additional information

I tried to install the latest development wheel but I get HTTP error 404.

[rodrigomorales1]

I cannot reproduce this on Ubuntu 22.04.4 LTS using open3d in the pip repositories or the latest development version of open3d.

Experiment 1 (open3d version 0.18.0)

/tmp/ $ rm -rf /tmp/foo
/tmp/ $ mkdir /tmp/foo
/tmp/ $ cd /tmp/foo
/tmp/ $ virtualenv venv
/tmp/ $ source venv/bin/activate
(venv) /tmp/foo $ pip install open3d torch
(venv) /tmp/foo $ python -c "import open3d;import torch;print('ok')"
ok
(venv) /tmp/foo $ python -c "import torch;import open3d;print('ok')"
ok

(venv) /tmp/foo $ pip list
Package                   Version
------------------------- -----------
addict                    2.4.0
asttokens                 2.4.1
attrs                     23.2.0
blinker                   1.7.0
certifi                   2024.2.2
charset-normalizer        3.3.2
click                     8.1.7
comm                      0.2.2
ConfigArgParse            1.7
contourpy                 1.2.1
cycler                    0.12.1
dash                      2.16.1
dash-core-components      2.0.0
dash-html-components      2.0.0
dash-table                5.0.0
decorator                 5.1.1
exceptiongroup            1.2.1
executing                 2.0.1
fastjsonschema            2.19.1
filelock                  3.13.4
Flask                     3.0.3
fonttools                 4.51.0
fsspec                    2024.3.1
idna                      3.7
importlib_metadata        7.1.0
ipython                   8.23.0
ipywidgets                8.1.2
itsdangerous              2.2.0
jedi                      0.19.1
Jinja2                    3.1.3
joblib                    1.4.0
jsonschema                4.21.1
jsonschema-specifications 2023.12.1
jupyter_core              5.7.2
jupyterlab_widgets        3.0.10
kiwisolver                1.4.5
MarkupSafe                2.1.5
matplotlib                3.8.4
matplotlib-inline         0.1.7
mpmath                    1.3.0
nbformat                  5.10.4
nest-asyncio              1.6.0
networkx                  3.3
numpy                     1.26.4
nvidia-cublas-cu12        12.1.3.1
nvidia-cuda-cupti-cu12    12.1.105
nvidia-cuda-nvrtc-cu12    12.1.105
nvidia-cuda-runtime-cu12  12.1.105
nvidia-cudnn-cu12         8.9.2.26
nvidia-cufft-cu12         11.0.2.54
nvidia-curand-cu12        10.3.2.106
nvidia-cusolver-cu12      11.4.5.107
nvidia-cusparse-cu12      12.1.0.106
nvidia-nccl-cu12          2.19.3
nvidia-nvjitlink-cu12     12.4.127
nvidia-nvtx-cu12          12.1.105
open3d                    0.18.0
packaging                 24.0
pandas                    2.2.2
parso                     0.8.4
pexpect                   4.9.0
pillow                    10.3.0
pip                       22.0.2
platformdirs              4.2.0
plotly                    5.21.0
prompt-toolkit            3.0.43
ptyprocess                0.7.0
pure-eval                 0.2.2
Pygments                  2.17.2
pyparsing                 3.1.2
pyquaternion              0.9.9
python-dateutil           2.9.0.post0
pytz                      2024.1
PyYAML                    6.0.1
referencing               0.34.0
requests                  2.31.0
retrying                  1.3.4
rpds-py                   0.18.0
scikit-learn              1.4.2
scipy                     1.13.0
setuptools                59.6.0
six                       1.16.0
stack-data                0.6.3
sympy                     1.12
tenacity                  8.2.3
threadpoolctl             3.4.0
torch                     2.2.2
tqdm                      4.66.2
traitlets                 5.14.2
triton                    2.2.0
typing_extensions         4.11.0
tzdata                    2024.1
urllib3                   2.2.1
wcwidth                   0.2.13
Werkzeug                  3.0.2
wheel                     0.37.1
widgetsnbextension        4.0.10
zipp                      3.18.1
(venv) /tmp/foo $ echo $?
0

Experiment 2 (open3d latest development version 0.18.0+5c982c7)

I installed open3d using pip install -U -f https://www.open3d.org/docs/latest/getting_started.html open3d, so the version reported by pip list for open3d is 0.18.0+5c982c7.

/tmp/ $ rm -rf /tmp/foo
/tmp/ $ mkdir /tmp/foo
/tmp/ $ cd /tmp/foo
/tmp/ $ virtualenv venv
/tmp/ $ source venv/bin/activate
(venv) /tmp/foo $ pip install -U -f https://www.open3d.org/docs/latest/getting_started.html open3d
(venv) /tmp/foo $ pip install torch
(venv) /tmp/foo $ python -c "import open3d;import torch;print('ok')"
ok
(venv) /tmp/foo $ python -c "import torch;import open3d;print('ok')"
ok

(venv) /tmp/foo $ pip list
$ pip list
Package                   Version
------------------------- --------------
addict                    2.4.0
asttokens                 2.4.1
attrs                     23.2.0
blinker                   1.7.0
certifi                   2024.2.2
charset-normalizer        3.3.2
click                     8.1.7
comm                      0.2.2
ConfigArgParse            1.7
contourpy                 1.2.1
cycler                    0.12.1
dash                      2.16.1
dash-core-components      2.0.0
dash-html-components      2.0.0
dash-table                5.0.0
decorator                 5.1.1
exceptiongroup            1.2.1
executing                 2.0.1
fastjsonschema            2.19.1
filelock                  3.13.4
Flask                     3.0.3
fonttools                 4.51.0
fsspec                    2024.3.1
idna                      3.7
importlib_metadata        7.1.0
ipython                   8.23.0
ipywidgets                8.1.2
itsdangerous              2.2.0
jedi                      0.19.1
Jinja2                    3.1.3
joblib                    1.4.0
jsonschema                4.21.1
jsonschema-specifications 2023.12.1
jupyter_core              5.7.2
jupyterlab_widgets        3.0.10
kiwisolver                1.4.5
MarkupSafe                2.1.5
matplotlib                3.8.4
matplotlib-inline         0.1.7
mpmath                    1.3.0
nbformat                  5.10.4
nest-asyncio              1.6.0
networkx                  3.3
numpy                     1.26.4
nvidia-cublas-cu12        12.1.3.1
nvidia-cuda-cupti-cu12    12.1.105
nvidia-cuda-nvrtc-cu12    12.1.105
nvidia-cuda-runtime-cu12  12.1.105
nvidia-cudnn-cu12         8.9.2.26
nvidia-cufft-cu12         11.0.2.54
nvidia-curand-cu12        10.3.2.106
nvidia-cusolver-cu12      11.4.5.107
nvidia-cusparse-cu12      12.1.0.106
nvidia-nccl-cu12          2.19.3
nvidia-nvjitlink-cu12     12.4.127
nvidia-nvtx-cu12          12.1.105
open3d                    0.18.0+5c982c7
packaging                 24.0
pandas                    2.2.2
parso                     0.8.4
pexpect                   4.9.0
pillow                    10.3.0
pip                       22.0.2
platformdirs              4.2.0
plotly                    5.21.0
prompt-toolkit            3.0.43
ptyprocess                0.7.0
pure-eval                 0.2.2
Pygments                  2.17.2
pyparsing                 3.1.2
pyquaternion              0.9.9
python-dateutil           2.9.0.post0
pytz                      2024.1
PyYAML                    6.0.1
referencing               0.34.0
requests                  2.31.0
retrying                  1.3.4
rpds-py                   0.18.0
scikit-learn              1.4.2
scipy                     1.13.0
setuptools                59.6.0
six                       1.16.0
stack-data                0.6.3
sympy                     1.12
tenacity                  8.2.3
threadpoolctl             3.4.0
torch                     2.2.2
tqdm                      4.66.2
traitlets                 5.14.2
triton                    2.2.0
typing_extensions         4.11.0
tzdata                    2024.1
urllib3                   2.2.1
wcwidth                   0.2.13
Werkzeug                  3.0.2
wheel                     0.37.1
widgetsnbextension        4.0.10
zipp                      3.18.1
(venv) /tmp/foo $ echo $?
0

Open3D, Python and System information

- Operating system:  Ubuntu 22.04.4 LTS
- Python version: Python 3.10.12
- Open3D version: experiment 1 above uses 0.18.0 and experiment 2 above uses 0.18.0+5c982c7
- System architecture: `Linux desktop 6.5.0-27-generic #28~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Fri Mar 15 10:51:06 UTC 2 x86_64 x86_64 x86_64 GNU/Linux` (as reported by `uname -a`)
- Is this a remote workstation?: no
- How did you install Open3D?: pip
- Compiler version (if built from source): Not relevant