Update License

LICENSE

@@ -0,0 +1,22 @@
+MIT License
+
+Copyright (c) 2020 NVIDIA CORPORATION. All rights reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+

cuda-filter/Makefile

@@ -1,32 +1,23 @@
 ################################################################################
+# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
 #
-# Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
 #
-# NOTICE TO USER:
-#
-# This source code is subject to NVIDIA ownership rights under U.S. and
-# international Copyright laws.
-#
-# NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE
-# CODE FOR ANY PURPOSE.  IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR
-# IMPLIED WARRANTY OF ANY KIND.  NVIDIA DISCLAIMS ALL WARRANTIES WITH
-# REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF
-# MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.
-# IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL,
-# OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
-# OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
-# OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE
-# OR PERFORMANCE OF THIS SOURCE CODE.
-#
-# U.S. Government End Users.  This source code is a "commercial item" as
-# that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting  of
-# "commercial computer software" and "commercial computer software
-# documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995)
-# and is provided to the U.S. Government only as a commercial end item.
-# Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through
-# 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the
-# source code with only those rights set forth herein.
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
 #
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
 ################################################################################
 
 #Get default CUDA version installed by dep package

cuda-filter/lib/cudaFilter.h

@@ -1,12 +1,23 @@
 /*
- * Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+ * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
  *
- * Please refer to the NVIDIA end user license agreement (EULA) associated
- * with this source code for terms and conditions that govern your use of
- * this software. Any use, reproduction, disclosure, or distribution of
- * this software and related documentation outside the terms of the EULA
- * is strictly prohibited.
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
  *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
  */
 #pragma once
 #include "cuda_runtime.h"
@@ -40,6 +51,8 @@ typedef struct {
 class cudaFilter
 {
 public:
+    cudaFilter(cudaStream_t stream = 0);
+    ~cudaFilter(void);
     /*
     Input:
         source: data pointer for points cloud
@@ -48,8 +61,6 @@ class cudaFilter
         output: data pointer which has points filtered by CUDA
         countLeft: count of points in output
     */
-    cudaFilter(cudaStream_t stream = 0);
-    ~cudaFilter(void);
     int set(FilterParam_t param);
     int filter(void *output, unsigned int *countLeft, void *source, unsigned int nCount);
 

cuda-filter/main.cpp

@@ -1,12 +1,23 @@
 /*
- * Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+ * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
  *
- * Please refer to the NVIDIA end user license agreement (EULA) associated
- * with this source code for terms and conditions that govern your use of
- * this software. Any use, reproduction, disclosure, or distribution of
- * this software and related documentation outside the terms of the EULA
- * is strictly prohibited.
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
  *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
  */
 #include <fstream>
 #include <chrono>

cuda-icp/Makefile

@@ -1,32 +1,23 @@
 ################################################################################
+# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
 #
-# Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
 #
-# NOTICE TO USER:
-#
-# This source code is subject to NVIDIA ownership rights under U.S. and
-# international Copyright laws.
-#
-# NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE
-# CODE FOR ANY PURPOSE.  IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR
-# IMPLIED WARRANTY OF ANY KIND.  NVIDIA DISCLAIMS ALL WARRANTIES WITH
-# REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF
-# MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.
-# IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL,
-# OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
-# OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
-# OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE
-# OR PERFORMANCE OF THIS SOURCE CODE.
-#
-# U.S. Government End Users.  This source code is a "commercial item" as
-# that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting  of
-# "commercial computer software" and "commercial computer software
-# documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995)
-# and is provided to the U.S. Government only as a commercial end item.
-# Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through
-# 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the
-# source code with only those rights set forth herein.
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
 #
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
 ################################################################################
 
 #Get default CUDA version installed by dep package

cuda-icp/lib/cudaICP.h

@@ -1,12 +1,23 @@
 /*
- * Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+ * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
  *
- * Please refer to the NVIDIA end user license agreement (EULA) associated
- * with this source code for terms and conditions that govern your use of
- * this software. Any use, reproduction, disclosure, or distribution of
- * this software and related documentation outside the terms of the EULA
- * is strictly prohibited.
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
  *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
  */
 #pragma once
 #include <Eigen/Dense>
@@ -39,7 +50,7 @@ class cudaICP
     void icp(float *cloud_source, int nPCount,
             float *cloud_target, int nQCount,
             int Maxiterate, double threshold,
-            Eigen::Matrix4f &transformation_matrix,
+            void *transformation_matrix,
             cudaStream_t stream = 0);
     void *m_handle = NULL;
 };

cuda-icp/main.cpp

@@ -1,12 +1,23 @@
 /*
- * Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+ * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
  *
- * Please refer to the NVIDIA end user license agreement (EULA) associated
- * with this source code for terms and conditions that govern your use of
- * this software. Any use, reproduction, disclosure, or distribution of
- * this software and related documentation outside the terms of the EULA
- * is strictly prohibited.
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
  *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
  */
 #include <fstream>
 
@@ -155,8 +166,10 @@ void testcudaICP(pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud_in,
     Eigen::Matrix4f matrix_icp = Eigen::Matrix4f::Identity();
     //std::cout << "matrix_icp native value "<< std::endl;
     //print4x4Matrix(matrix_icp);
-
-    std::cout << "------------checking CUDA ICP---------------- "<< std::endl;
+    void *cudaMatrix = NULL;
+    cudaMatrix = malloc(sizeof(float)*4*4);
+    memset(cudaMatrix, 0 , sizeof(float)*4*4);
+    std::cout << "------------checking CUDA ICP(GPU)---------------- "<< std::endl;
     /************************************************/
     cudaStream_t stream = NULL;
     cudaStreamCreate ( &stream );
@@ -176,20 +189,21 @@ void testcudaICP(pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud_in,
     cudaICP icpTest(nP, nQ, stream);
 
     t1 = std::chrono::steady_clock::now();
-    icpTest.icp((float*)PUVM, nP, (float*)QUVM, nQ, iter.Maxiterate, iter.threshold, matrix_icp, stream);
+    icpTest.icp((float*)PUVM, nP, (float*)QUVM, nQ, iter.Maxiterate, iter.threshold, cudaMatrix, stream);
     t2 = std::chrono::steady_clock::now();
     time_span = std::chrono::duration_cast<std::chrono::duration<double, std::ratio<1, 1000>>>(t2 - t1);
     std::cout << "CUDA ICP by Time: " << time_span.count() << " ms."<< std::endl;
     cudaStreamDestroy(stream);
     /************************************************/
+    memcpy(matrix_icp.data(), cudaMatrix, sizeof(float)*4*4);
     transformation_matrix = matrix_icp;
     std::cout << "CUDA ICP fitness_score: " << calculateFitneeScore( pcl_cloud_in, pcl_cloud_out, transformation_matrix) << std::endl;
     std::cout << "matrix_icp calculated Matrix by Class ICP "<< std::endl;
     print4x4Matrix(matrix_icp);
 
     cudaFree(PUVM);
     cudaFree(QUVM);
-
+    free(cudaMatrix);
     auto cloudSrc = pcl_cloud_in;
     auto cloudDst = pcl_cloud_out;
     pcl::PointCloud<pcl::PointXYZ> input_transformed;

cuda-segmentation/Makefile

@@ -1,32 +1,23 @@
 ################################################################################
+# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
 #
-# Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+# Permission is hereby granted, free of charge, to any person obtaining a
+# copy of this software and associated documentation files (the "Software"),
+# to deal in the Software without restriction, including without limitation
+# the rights to use, copy, modify, merge, publish, distribute, sublicense,
+# and/or sell copies of the Software, and to permit persons to whom the
+# Software is furnished to do so, subject to the following conditions:
 #
-# NOTICE TO USER:
-#
-# This source code is subject to NVIDIA ownership rights under U.S. and
-# international Copyright laws.
-#
-# NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE
-# CODE FOR ANY PURPOSE.  IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR
-# IMPLIED WARRANTY OF ANY KIND.  NVIDIA DISCLAIMS ALL WARRANTIES WITH
-# REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF
-# MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.
-# IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL,
-# OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
-# OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
-# OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE
-# OR PERFORMANCE OF THIS SOURCE CODE.
-#
-# U.S. Government End Users.  This source code is a "commercial item" as
-# that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting  of
-# "commercial computer software" and "commercial computer software
-# documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995)
-# and is provided to the U.S. Government only as a commercial end item.
-# Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through
-# 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the
-# source code with only those rights set forth herein.
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
 #
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+# DEALINGS IN THE SOFTWARE.
 ################################################################################
 
 #Get default CUDA version installed by dep package

cuda-segmentation/lib/cudaSegmentation.h

@@ -1,12 +1,23 @@
 /*
- * Copyright 1993-2020 NVIDIA Corporation.  All rights reserved.
+ * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
  *
- * Please refer to the NVIDIA end user license agreement (EULA) associated
- * with this source code for terms and conditions that govern your use of
- * this software. Any use, reproduction, disclosure, or distribution of
- * this software and related documentation outside the terms of the EULA
- * is strictly prohibited.
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
  *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
  */
 #pragma once
 #include <Eigen/Dense>