non_blocking_visualization test issue

[enderjiang]

Tried a few point cloud data including the given set from tutorial, but still get the following error, any advice?

[Open3D Error] (class open3d::pipelines::registration::RegistrationResult __cdecl open3d::pipelines::registration::RegistrationICP(const class open3d::geometry::PointCloud &,const class open3d::geometry::PointCloud &,double,const class Eigen::Matrix<double,4,4,0,4,4> &,const class open3d::pipelines::registration::TransformationEstimation &,const class open3d::pipelines::registration::ICPConvergenceCriteria &)) D:\a\Open3D\Open3D\cpp\open3d\pipelines\registration\Registration.cpp:154: TransformationEstimationPointToPlane and TransformationEstimationColoredICP require pre-computed normal vectors for target PointCloud.

[enderjiang]

Managed to solve it by adding estimate normals, as the given pcd didn't compute normals for each point, hence it can't be applied to TransformationEstimationPointToPlane
Add the last 2 lines in the giving sample project, resolved the issue for me.
source = source_raw.voxel_down_sample(voxel_size=0.02)
target = target_raw.voxel_down_sample(voxel_size=0.02)
source.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
target.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))