thrust::device_reference<pcl::cuda::PointXYZRGB> has no member named x or y or z

[ahmadhasan2k8]

Your Environment

• Operating System and version: Windows 10
• CUDA version: 9.2
• Compiler: Visual Studio 2017
• PCL Version: Latest Release 1.8.1

Context

Trying to build PCL for windows

Expected Behavior

It should just build. For Linux it builds perfectly fine.

Current Behavior

C:/vcpkg/buildtrees/pcl/src/pcl-1.8.1-4ad2313dce/cuda/sample_consensus/src/sac_model_plane.cu(195): error: class "thrust::device_reference" has no member "x"
detected during:
instantiation of "__nv_bool pcl::cuda::CountPlanarInlier::operator()(const Tuple &) [with Tuple=thrust::detail::tuple_of_iterator_references<thrust::device_reference, thrust::device_reference, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>]"
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.2\include\thrust/system/cuda/detail/util.h(290): here
instantiation of "thrust::cuda_cub::transform_input_iterator_t<ValueType, InputIt, UnaryOp>::reference thrust::cuda_cub::transform_input_iterator_t<ValueType, InputIt, UnaryOp>::operator[](thrust::cuda_cub::transform_input_iterator_t<ValueType, InputIt, UnaryOp>::difference_type) const [with ValueType=thrust::detail::intmax_t, InputIt=thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, UnaryOp=pcl::cuda::CountPlanarInlier]"
c:\program files\nvidia gpu computing toolkit\cuda\v9.2\include\thrust\system\cuda\detail\cub\device\dispatch../../agent/agent_reduce.cuh(290): here
instantiation of "void thrust::cuda_cub::cub::AgentReduce<AgentReducePolicy, InputIteratorT, OutputIteratorT, OffsetT, ReductionOp>::ConsumeTile<IS_FIRST_TILE,CAN_VECTORIZE>(thrust::cuda_cub::cub::AgentReduce<AgentReducePolicy, InputIteratorT, OutputIteratorT, OffsetT, ReductionOp>::OutputT &, OffsetT, int, thrust::cuda_cub::cub::Int2Type<0>, thrust::cuda_cub::cub::Int2Type<CAN_VECTORIZE>) [with AgentReducePolicy=thrust::cuda_cub::cub::AgentReducePolicy<128, 16, 4, thrust::cuda_cub::cub::BLOCK_REDUCE_WARP_REDUCTIONS, thrust::cuda_cub::cub::LOAD_LDG>, InputIteratorT=thrust::cuda_cub::transform_input_iterator_t<thrust::detail::intmax_t, thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, pcl::cuda::CountPlanarInlier>, OutputIteratorT=thrust::detail::intmax_t *, OffsetT=int, ReductionOp=thrust::plusthrust::detail::intmax_t, IS_FIRST_TILE=1, CAN_VECTORIZE=0]"
c:\program files\nvidia gpu computing toolkit\cuda\v9.2\include\thrust\system\cuda\detail\cub\device\dispatch../../agent/agent_reduce.cuh(322): here
instantiation of "thrust::cuda_cub::cub::AgentReduce<AgentReducePolicy, InputIteratorT, OutputIteratorT, OffsetT, ReductionOp>::OutputT thrust::cuda_cub::cub::AgentReduce<AgentReducePolicy, InputIteratorT, OutputIteratorT, OffsetT, ReductionOp>::ConsumeRange(thrust::cuda_cub::cub::GridEvenShare &, thrust::cuda_cub::cub::Int2Type<CAN_VECTORIZE>) [with AgentReducePolicy=thrust::cuda_cub::cub::AgentReducePolicy<128, 16, 4, thrust::cuda_cub::cub::BLOCK_REDUCE_WARP_REDUCTIONS, thrust::cuda_cub::cub::LOAD_LDG>, InputIteratorT=thrust::cuda_cub::transform_input_iterator_t<thrust::detail::intmax_t, thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, pcl::cuda::CountPlanarInlier>, OutputIteratorT=thrust::detail::intmax_t *, OffsetT=int, ReductionOp=thrust::plusthrust::detail::intmax_t, CAN_VECTORIZE=0]"
c:\program files\nvidia gpu computing toolkit\cuda\v9.2\include\thrust\system\cuda\detail\cub\device\dispatch../../agent/agent_reduce.cuh(360): here
instantiation of "thrust::cuda_cub::cub::AgentReduce<AgentReducePolicy, InputIteratorT, OutputIteratorT, OffsetT, ReductionOp>::OutputT thrust::cuda_cub::cub::AgentReduce<AgentReducePolicy, InputIteratorT, OutputIteratorT, OffsetT, ReductionOp>::ConsumeRange(OffsetT, OffsetT) [with AgentReducePolicy=thrust::cuda_cub::cub::AgentReducePolicy<128, 16, 4, thrust::cuda_cub::cub::BLOCK_REDUCE_WARP_REDUCTIONS, thrust::cuda_cub::cub::LOAD_LDG>, InputIteratorT=thrust::cuda_cub::transform_input_iterator_t<thrust::detail::intmax_t, thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, pcl::cuda::CountPlanarInlier>, OutputIteratorT=thrust::detail::intmax_t *, OffsetT=int, ReductionOp=thrust::plusthrust::detail::intmax_t]"
c:\program files\nvidia gpu computing toolkit\cuda\v9.2\include\thrust\system\cuda\detail\cub\device\dispatch/dispatch_reduce.cuh(143): here
[ 9 instantiation contexts not shown ]
instantiation of "T thrust::cuda_cub::reduce_n(thrust::cuda_cub::execution_policy &, InputIt, Size, T, BinaryOp) [with Derived=thrust::cuda_cub::tag, InputIt=thrust::cuda_cub::transform_input_iterator_t<thrust::detail::intmax_t, thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, pcl::cuda::CountPlanarInlier>, Size=thrust::detail::intmax_t, T=thrust::detail::intmax_t, BinaryOp=thrust::plusthrust::detail::intmax_t]"
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.2\include\thrust/system/cuda/detail/count.h(59): here
instantiation of "thrust::iterator_traits::difference_type thrust::cuda_cub::count_if(thrust::cuda_cub::execution_policy &, InputIt, InputIt, UnaryPred) [with Derived=thrust::cuda_cub::tag, InputIt=thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, UnaryPred=pcl::cuda::CountPlanarInlier]"
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.2\include\thrust/detail/count.inl(51): here
instantiation of "thrust::iterator_traits::difference_type thrust::count_if(const thrust::detail::execution_policy_base &, InputIterator, InputIterator, Predicate) [with DerivedPolicy=thrust::cuda_cub::tag, InputIterator=thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, Predicate=pcl::cuda::CountPlanarInlier]"
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.2\include\thrust/detail/count.inl(79): here
instantiation of "thrust::iterator_traits::difference_type thrust::count_if(InputIterator, InputIterator, Predicate) [with InputIterator=thrust::zip_iterator<thrust::tuple<thrust::detail::normal_iterator<thrust::device_ptr>, thrust::detail::normal_iterator<thrust::device_ptr>, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type, thrust::null_type>>, Predicate=pcl::cuda::CountPlanarInlier]"
(249): here
instantiation of "int pcl::cuda::SampleConsensusModelPlane::countWithinDistance(const pcl::cuda::SampleConsensusModelPlane::Coefficients &, float) [with Storage=pcl::cuda::Device]"
(394): here

Code to Reproduce

Latest github code for PCL should reproduce it

Possible Solution

No clue in this case

[moncio]

Has there been any solution to this error?

[SergioRAgostinho]

There might have been. Have you tried compiling what's in the master branch and have a go at it? These are the changes we currently have on our changelog, merged after 1.8.1.

libpcl_cuda:

• Fix compilation issues with CUDA 9.1 [#2212]
• Fix some CUDA 9 related errors [#2181]
• Added CUDA compute capability 5.3 [#1929]