FastVGICPCuda not working while FastVGICP does about fast_gicp HOT 8 OPEN

I don't have the time current (due to job constraints) to do a clean fix for this. Feel free to take it and make a PR. @koide3 @cdb0y511

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I actually tracked this down to the RegularizationMethod parameter. When its set to Planar, the default the code does not work on either my sample set, or your provided data.

If I change to Frobenius it seems to work fine.

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I'm not really sure, but I guess it is a problem on Eigen::SelfAdjointEigenSolver used in the PLANE regularization that may have a problem on some GPUs. What GPU are you using? Can you insert the following test code just below eig.computeDirect(cov); to see if eigenvalue decomposition is working properly?

    // --- test code ---
    Eigen::Vector3f values = eig.eigenvalues();
    Eigen::Matrix3f v_diag = values.asDiagonal();
    Eigen::Matrix3f v_inv = eig.eigenvectors().inverse();

    Eigen::Matrix3f C_ = eig.eigenvectors() * v_diag * v_inv;

    if((cov - C_).array().abs().maxCoeff() > 1e-3) {
      printf("wrong SVD result\n");
      printf("--- C ---\n");
      for(int i=0; i<3; i++) {
        for(int j=0; j<3; j++) {
          printf("%.6f ", cov(i, j));
        }
        printf("\n");
      }

      printf("--- C_ ---\n");
      for(int i=0; i<3; i++) {
        for(int j=0; j<3; j++) {
          printf("%.6f ", C_(i, j));
        }
        printf("\n");
      }
    }
    // ---

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GPU is RTX8000

This code did not trigger to trap anything, I tried to go through all the covariance stuff and look for NAN or INF and I am not seeing it show up anywhere...

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I also tried reverting the plane code to the commented section and use covariance_regularization_svd() and still get the same result. Maybe that provides any more useful information....

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I found a fix for this. rzhao88@2159f39

Comment is wrong, I was using CUDA 11.5

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I found a fix for this. rzhao88@2159f39

Comment is wrong, I was using CUDA 11.5

Hi, @rzhao88
I have tested it on CUDA 11.5. It fixes sometimes the covariance stuff return NAN or INF issues in the Cuda version.
I think you could make a PR, the
src/fast_gicp/cuda/covariance_regularization.cu
fix it.
Thanks, @rzhao88
I think you @koide3 may be interested in it.

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I have the same problem. Do you guys have any ideas?

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