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cuda-cluster

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Description

This package provides:

  1. Cluster lib 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

NOTE: Cluster can be used to extract objects from points cloud after road plane was removed by Segmentation. The sample will use a PCD(sample.pcd) file which had been removed road plane.

Prerequisites

1. Install Jetpack4.4.1 by SDKManager

2. install PCL (Eigen included)

$sudo apt-get update
$sudo apt-get install libpcl-dev

Build

$ make

Run

Please boost CPU and GPU firstly

sudo nvpmodel -m 0
sudo jetson_clocks 

Usage:

./demo [*.pcd]

How to check output

We can get output as below:

-------------- test CUDA lib -----------
-------------- cudaExtractCluster -----------
CUDA extract by Time: 10.3122 ms.
PointCloud representing the Cluster: 162152 data points.
PointCloud representing the Cluster: 7098 data points.
PointCloud representing the Cluster: 1263 data points.
PointCloud representing the Cluster: 257 data points.

-------------- test PCL lib -----------
PCL(CPU) cluster kd-tree by Time: 60.8192 ms.
PCL(CPU) cluster extracted by Time: 4016.85 ms.
PointCloud cluster_indices: 4.
PointCloud representing the Cluster: 166789 data points.
PointCloud representing the Cluster: 7410 data points.
PointCloud representing the Cluster: 1318 data points.
PointCloud representing the Cluster: 427 data points.

Perforamnce table

                                GPU         CPU
Count of points cloud           17w+        17w+
Cluster cost time(ms)           10.3122     4016.85

How To Check the Version of the Lib

$ strings lib* | grep version | grep lib<br>
lib* version: 1.0 Jun  2 2019 09:30:19<br>

Test Enviroment

Jetson Xavier AGX 8GB
Jetpack 4.4.1
CUDA 10.2
PCL 1.8
Eigen 3