Description

This package provides:

1. Segmentation 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
3. A point clound: sample.pcd which has 119978 points NOTE: Now Just support: SAC_RANSAC + SACMODEL_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:

-------------------------
CUDA segment by Time: 14.5712 ms.
CUDA modelCoefficients: -0.00269913 0.0424975 0.999093 2.10639
CUDA find points: 7519
-------------------------
PCL(CPU) segment by Time: 67.2766 ms.
Model coefficients: -0.0026991 0.0424981 0.999093 2.10639
Model inliers: 7519

Perforamnce table

                        GPU         CPU
count of points cloud   11w+        11w+
Points selected         7519        7519
cost time(ms)           14.5712     67.2766

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