Xuecheng

> @MaverickPeter Hello, I executed the instruction in docker according to your suggestion, but this error still exists. At the same time, I tested other CUDA test code found on...

It might be some compatible problem with cuda and pytorch. I'll try to replicate this issue on a 30-series GPU and find a solution.

@diamonazreal, I've reproduced this issue on the 30-series GPU. The problem is caused by the open-sourced radon transform implementation, which might have a compatible problem. I'll dig into it and...

@diamonazreal I downgraded the environment in the docker image to cuda 11.1.1 with pytorch 1.10.1 and everything went well. I've already updated the docker image and you can now download...

@Joosoo1 You can try to upgrade the cuda to 12.x and utilize the corresponding torch version. The compute capability of 4060 is 8.9 (sm_89), and CUDA 11.x only supports

Cool, There are several minor changes when I build the docker image from the dockerfile, I'll check it later.

@Joosoo1 Can you try to set a lower number of the param "icp_fitness_score" in the py file in the loop detection module and see if the problem is solved? If...

@tao19960404 RGB-D 相机使用过程中最容易出现的问题是坐标系，相机坐标系是z轴朝前，请转换到和激光坐标系一致的z朝上的坐标系后才能正常使用