#normal-estimation-using-integral-images showing error

[manz00]

I'm using below code from tutorial of normal-estimation-using-integral-images,

#include <pcl/common/io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/integral_image_normal.h>

int main( ){
	// load point cloud
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("C:\\pcl_tutorials\\normal\\table_scene_mug_stereo_textured.pcd", *cloud);
	
	// estimate normals
	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
	
	pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
	ne.setNormalEstimationMethod(ne.AVERAGE_3D_GRADIENT);
	ne.setMaxDepthChangeFactor(0.02f);
	ne.setNormalSmoothingSize(10.0f);
	ne.setInputCloud(cloud);
	ne.compute(*normals);
	
	// visualize normals
	pcl::visualization::PCLVisualizer viewer("PCL Viewer");
	viewer.setBackgroundColor(0.0, 0.0, 0.5);
	viewer.addPointCloudNormals<pcl::PointXYZ, pcl::Normal>(cloud, normals);
	
	while (!viewer.wasStopped())
	{
	viewer.spinOnce();
	}
	return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(normal_estimation_using_integral_images)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (normal_estimation_using_integral_images normal_estimation_using_integral_images.cpp)
target_link_libraries (normal_estimation_using_integral_images ${PCL_LIBRARIES})

The following issue is displayed in the command prompt after running the program in Visual Studios on Windows 10.

Assertion failed: v == T(Value), file C:\Program Files\Eigen3\include\eigen3\Eigen\src/Core/util/XprHelper.h, line 133

C:\pcl_tutorials\normal\out\build\x64-Debug\normal_estimation_using_integral_images.exe (process 10180) exited with code 3.
To automatically close the console when debugging stops, enable Tools->Options->Debugging->Automatically close the console when debugging stops.
Press any key to close this window . . .

Debug output:

Debug Error!

Program: ...t\build\x64-Debug\normal_estimation_using_integral_images.exe

abort() has been called

(Press Retry to debug the application)
.
.
The thread 0x18d4 has exited with code 0 (0x0).
'normal_estimation_using_integral_images.exe' (Win32): Loaded 'C:\Windows\System32\ole32.dll'. 
A breakpoint instruction (__debugbreak() statement or a similar call) was executed in normal_estimation_using_integral_images.exe.

I followed this #4462 (comment) for library installation.

Could anyone help me with this issue?

[mvieth]

See here: #5063

[manz00]

I complied the program using x64-Release, and it still shows below errors.

Unhandled exception at 0x00007FFEDA898327 (vtkCommonCore-9.1.dll) in narf_feature_extraction.exe: 0xC0000005: Access violation reading location 0x000000000000003F.

Severity	Code	Description	Project	File	Line	Suppression State
Error (active)	E0992	command-line error: invalid macro definition: BOOST_ALL_NO_LIB-DBOOST_ALL_NO_LIB	narf_feature_extraction.exe - x64-Release	C:\pcl_tutorials\narf\narf_feature_extraction.cpp	1	

Can you help with these?

[mvieth]

Sounds like that might be the same problem as in #5159 ? Please check the other issues before opening a new issue. Your questions might already have been answered.

[manz00]

So I checked #5159 and made the following changes to my CMakeLists.txt:

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)

project(range_image_visualization)

find_package(PCL 1.3 REQUIRED)
find_package(VTK REQUIRED)

include_directories(${PCL_INCLUDE_DIRS}${VTK_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (range_image_visualization range_image_visualization.cpp)
target_link_libraries (range_image_visualization ${PCL_LIBRARIES};${VTK_LIBRARIES})

vtk_module_autoinit(TARGETS range_image_visualization 
                    MODULES VTK::RenderingContextOpenGL2)

New error

Target missing executable

does not have an executable configured.

It cannot be launched.

When I hit OK, it follows it up with another error box:

Value cannot be null.
Parameter name: key

I also downloaded and added this library by following #5252:

//#include <pcl/visualization/vtk/vtkRenderWindowInteractorFix.h>
#include <pcl/visualization/vtk/vtkFixedXRenderWindowInteractor.h>

Without that library, I get the below error:

I need some assistance @mvieth.