How to use GPU to do coordinate-transformation of Point Cloud?
The tf-transform is really very slow under CPU. I'm thinking about how to transform coordinate of point cloud using GPU. This process can be done only with a matrix multiplication.
However, how to use add .cu file in ROS package and how to call function in .cu file?
Anyone has done this or is there any example about this?
It seems there is no API in PCL.
Thank you so much for helping me.
c++ cuda gpu ros point-cloud-library
asked Nov 12 at 9:26
Camilla
65
add a comment |
The tf-transform is really very slow under CPU. I'm thinking about how to transform coordinate of point cloud using GPU. This process can be done only with a matrix multiplication.
However, how to use add .cu file in ROS package and how to call function in .cu file?
Anyone has done this or is there any example about this?
It seems there is no API in PCL.
Thank you so much for helping me.
c++ cuda gpu ros point-cloud-library
asked Nov 12 at 9:26
Camilla
65
add a comment |
The tf-transform is really very slow under CPU. I'm thinking about how to transform coordinate of point cloud using GPU. This process can be done only with a matrix multiplication.
However, how to use add .cu file in ROS package and how to call function in .cu file?
Anyone has done this or is there any example about this?
It seems there is no API in PCL.
Thank you so much for helping me.
c++ cuda gpu ros point-cloud-library
asked Nov 12 at 9:26
Camilla
65
The tf-transform is really very slow under CPU. I'm thinking about how to transform coordinate of point cloud using GPU. This process can be done only with a matrix multiplication.
However, how to use add .cu file in ROS package and how to call function in .cu file?
Anyone has done this or is there any example about this?
It seems there is no API in PCL.
Thank you so much for helping me.
c++ cuda gpu ros point-cloud-library
c++ cuda gpu ros point-cloud-library
asked Nov 12 at 9:26
Camilla
65
asked Nov 12 at 9:26
Camilla
65
asked Nov 12 at 9:26
Camilla
65
asked Nov 12 at 9:26
Camilla
65
asked Nov 12 at 9:26
Camilla
65
65
add a comment |
add a comment |
1 Answer
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you can add .cu files into ROS build space like other projects. Remember it's just CMake projects with additional libraries.
for calling function to .cu i can refer you to How to CUDA C And Even Easier Introduction to CUDA.
EDIT 1
CUDA Matrix multiplication for CUDA 9.2 in Their GitHub Repository
answered Nov 21 at 16:19
Mohammad Ali
30018
Should also be some example matrix multiplications samples for visual studio included with the NVidia Cuda SDK.
– Phill
Nov 21 at 16:42
add a comment |
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1 Answer
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active
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votes
1 Answer
1
active
oldest
votes
active
oldest
votes
active
oldest
votes
you can add .cu files into ROS build space like other projects. Remember it's just CMake projects with additional libraries.
for calling function to .cu i can refer you to How to CUDA C And Even Easier Introduction to CUDA.
EDIT 1
CUDA Matrix multiplication for CUDA 9.2 in Their GitHub Repository
answered Nov 21 at 16:19
Mohammad Ali
30018
Should also be some example matrix multiplications samples for visual studio included with the NVidia Cuda SDK.
– Phill
Nov 21 at 16:42
add a comment |
you can add .cu files into ROS build space like other projects. Remember it's just CMake projects with additional libraries.
for calling function to .cu i can refer you to How to CUDA C And Even Easier Introduction to CUDA.
EDIT 1
CUDA Matrix multiplication for CUDA 9.2 in Their GitHub Repository
answered Nov 21 at 16:19
Mohammad Ali
30018
Should also be some example matrix multiplications samples for visual studio included with the NVidia Cuda SDK.
– Phill
Nov 21 at 16:42
add a comment |
you can add .cu files into ROS build space like other projects. Remember it's just CMake projects with additional libraries.
for calling function to .cu i can refer you to How to CUDA C And Even Easier Introduction to CUDA.
EDIT 1
CUDA Matrix multiplication for CUDA 9.2 in Their GitHub Repository
answered Nov 21 at 16:19
Mohammad Ali
30018
you can add .cu files into ROS build space like other projects. Remember it's just CMake projects with additional libraries.
for calling function to .cu i can refer you to How to CUDA C And Even Easier Introduction to CUDA.
EDIT 1
CUDA Matrix multiplication for CUDA 9.2 in Their GitHub Repository
answered Nov 21 at 16:19
Mohammad Ali
30018
edited Nov 21 at 16:51
answered Nov 21 at 16:19
Mohammad Ali
30018
answered Nov 21 at 16:19
Mohammad Ali
30018
answered Nov 21 at 16:19
Mohammad Ali
30018
30018
Should also be some example matrix multiplications samples for visual studio included with the NVidia Cuda SDK.
– Phill
Nov 21 at 16:42
add a comment |
Should also be some example matrix multiplications samples for visual studio included with the NVidia Cuda SDK.
– Phill
Nov 21 at 16:42
Should also be some example matrix multiplications samples for visual studio included with the NVidia Cuda SDK.
– Phill
Nov 21 at 16:42
Should also be some example matrix multiplications samples for visual studio included with the NVidia Cuda SDK.
– Phill
Nov 21 at 16:42
add a comment |
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