Pointcloud example fails

[jediofgever]

Hi,
Sorry to bother, I met issue while testing pointcloud example which basically estimates the normals and visualizes. The first issue is, the removeNonePoints, wipes out all the points leaving no points in the cluoud hence it fails. So I disable the removeNonePoints, by setting it to false in function signature.

The second issue I meet is, attached in the picture.

The cloud is relatively large including close to 2 ml points, but I am not sure if that the reason for this error, have tested that example ?

[neka-nat]

There seems to be an architectural mismatch.
https://stackoverflow.com/questions/33047441/about-error-code-invalid-device-function-by-nvcc-with-compute-and-sm-compile
Try to compile it with cmake, specifying the architecture. (where XX is the version of the architecture in your environment.)

cmake -D CUDA_ARCH_BIN="XX" -D CUDA_ARCH_PTX="XX" ..

[jediofgever]

Thank you @neka-nat. Indeed, my GPU is quite outdated so changed it to 50 from 52 which is the default.

The example does visualize the cloud but can't see any normals on the cloud, does the visualizer has the capability of visualizing normals?

Here is what the cloud looks like

Edit;
Ah ok, DrawGeometries(), accepts args for customized visualization.

Had to change default args as below,
visualization::DrawGeometries({pcd}, "Copoch", 640, 480, 50, 50, true, true, false);
can now see the normals;

[neka-nat]

Hi,
Pressing the n key in the visualizer will draw the normals.