badslam_test failed with "Cuda Error: invalid device function" about badslam

[puzzlepaint]

Did you specify the correct CUDA code generation options, I guess probably -DCMAKE_CUDA_FLAGS="-arch=sm_50" for your graphics card?

Aside from that, as the ReadMe states, the program currently requires at least compute capability 5.3, but I believe that it is easy to change that (unless there are other things requiring a high compute capability that I am not aware of). The reason for requiring it is that point radii are stored as 'half' numbers in a memory buffer to save space, and the corresponding conversion functions require 5.3 according to this table. The alternative would be to store them as floats, which will have no negative consequences except requiring more GPU memory. To change this, one would need to look for all occurrences of the radius_buffer which is stored in the keyframes (keyframe.h header) and change its type from u16 to float. Then drop all of the conversions that happen when reading from or writing to this buffer. For example, in cuda_depth_processing.cu#L355, simply drop the __half_as_ushort(__float2half_rn()) around the value.

[jsYangCode]

@barelycompiling hi friends，i am now facing a similar error like yours. I use an Nvidia GeForce GT730 graphic card. CUDA 10.0. Would you please give me some advice? Thanks!!

[AreteQin]

Hi, there.

I am facing the same problem with you while doing auto_tunning.

But I can't understand which file I should revise, could you please give me some help.

Thanks in advance!