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+# cuda-pcl
+<a><img src="https://img.shields.io/badge/-Documentation-bright"/></a>
+
+cuda-pcl has some libraries used to procesee points cloud with CUDA and some samples for their usage.
+The are several subfolders in the project and every subfolder has:
+1. lib for segmentation implemented by CUDA
+2. Sample code can show the lib usage and also be used to check perf
+   and accuracy by comparing its output with PCL
+
+To get started, follow the instructions below.  If you run into any issues please [let us know](../../issues).
+
+## Getting Started
+
+To get started with trt_pose, follow these steps.
+
+### Step 1 - Install Dependencies
+
+1. Install Jetpack4.4.1 by SDKManager
+2. install PCL (Eigen included)
+
+```
+$sudo apt-get update
+$sudo apt-get install libpcl-dev
+```
+
+### Step 2 - Build
+Enter any subfolder and then
+```
+$ make
+```
+### Step 3 - Run
+1. Please boost CPU and GPU firstly
+```
+$ sudo nvpmodel -m 0
+$ sudo jetson_clocks 
+```
+
+2. Usage:
+```
+$ ./demo [*.pcd]
+```
+
+## How to check the Version of the Lib
+```
+$ strings lib* | grep version | grep lib
+lib* version: 1.0 Jun  2 2019 09:30:19
+```
+## Test Enviroment
+```
+Jetson Xavier AGX 8GB
+Jetpack 4.4.1
+CUDA 10.2
+PCL 1.8
+Eigen 3
+```