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Fixed bug that caused Open3D to crash when geometries were frequently removed and added. #7323

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Fixed bug that caused Open3D to crash when geometries were frequently removed and added. #7323

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cdca9b2
14.08.2025
summit-cross Aug 14, 2025
105dac7
Reverses the unnecessary change in SlabNodeManager.h
summit-cross Aug 15, 2025
7769cee
Style correction for FilamentScene.cpp
summit-cross Aug 28, 2025
64dab66
Merge branch 'isl-org:main' into main
summit-cross Aug 28, 2025
90b6bbb
Add linespace at the end of RendererHandle.h
summit-cross Aug 28, 2025
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2 changes: 1 addition & 1 deletion cpp/open3d/visualization/rendering/RendererHandle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ namespace open3d {
namespace visualization {
namespace rendering {

std::array<std::uint16_t, static_cast<size_t>(EntityType::Count)>
std::array<std::uint32_t, static_cast<size_t>(EntityType::Count)>
REHandle_abstract::uid_table;

std::ostream& operator<<(std::ostream& os, const REHandle_abstract& uid) {
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20 changes: 10 additions & 10 deletions cpp/open3d/visualization/rendering/RendererHandle.h
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Expand Up @@ -20,7 +20,7 @@ namespace visualization {
namespace rendering {

// If you add entry here, don't forget to update TypeToString!
enum class EntityType : std::uint16_t {
enum class EntityType : std::uint32_t {
None = 0,

View,
Expand All @@ -47,11 +47,11 @@ enum class EntityType : std::uint16_t {
struct REHandle_abstract {
static const char* TypeToString(EntityType type);

static const std::uint16_t kBadId = 0;
static const std::uint32_t kBadId = 0;
const EntityType type = EntityType::None;

inline size_t Hash() const {
return static_cast<std::uint16_t>(type) << 16 | id;
inline uint64_t Hash() const {
return static_cast<std::uint64_t>(type) << 32 | id;
}

bool operator==(const REHandle_abstract& other) const {
Expand All @@ -70,16 +70,16 @@ struct REHandle_abstract {

REHandle_abstract() : type(EntityType::None), id(kBadId) {}

std::uint16_t GetId() const { return id; }
std::uint32_t GetId() const { return id; }

protected:
REHandle_abstract(const EntityType aType, const std::uint16_t aId)
REHandle_abstract(const EntityType aType, const std::uint32_t aId)
: type(aType), id(aId) {}

static std::array<std::uint16_t, static_cast<size_t>(EntityType::Count)>
static std::array<std::uint32_t, static_cast<size_t>(EntityType::Count)>
uid_table;

std::uint16_t id = kBadId;
std::uint32_t id = kBadId;
};

std::ostream& operator<<(std::ostream& os, const REHandle_abstract& uid);
Expand All @@ -91,7 +91,7 @@ struct REHandle : public REHandle_abstract {
static const REHandle kBad;

static REHandle Next() {
const auto index = static_cast<std::uint16_t>(entityType);
const auto index = static_cast<std::uint32_t>(entityType);
auto id = ++uid_table[index];
if (id == REHandle_abstract::kBadId) {
uid_table[index] = REHandle_abstract::kBadId + 1;
Expand All @@ -113,7 +113,7 @@ struct REHandle : public REHandle_abstract {
REHandle() : REHandle_abstract(entityType, REHandle_abstract::kBadId) {}
REHandle(const REHandle& other) : REHandle_abstract(entityType, other.id) {}
// Don't use this constructor unless you know what you are doing
explicit REHandle(std::uint16_t id) : REHandle_abstract(entityType, id) {}
explicit REHandle(std::uint32_t id) : REHandle_abstract(entityType, id) {}

REHandle& operator=(const REHandle& other) {
id = other.id;
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3 changes: 3 additions & 0 deletions cpp/open3d/visualization/rendering/filament/FilamentScene.cpp
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Expand Up @@ -1920,6 +1920,9 @@ void FilamentScene::RenderableGeometry::ReleaseResources(

manager.Destroy(mat.mat_instance);

// Destroy filament entity
utils::EntityManager::get().destroy(filament_entity);

filament_entity.clear();
}

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