how to convert nv::Tensor lidar_points to pcl::PointCloud<pcl::PointXYZI>

NVIDIA-AI-IOT / Lidar_AI_Solution

A project demonstrating Lidar related AI solutions, including three GPU accelerated Lidar/camera DL networks (PointPillars, CenterPoint, BEVFusion) and the related libs (cuPCL, 3D SparseConvolution, YUV2RGB, cuOSD,).

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how to convert nv::Tensor lidar_points to pcl::PointCloud<pcl::PointXYZI> #187

Open artofstate opened 11 months ago

artofstate commented 11 months ago

Hi! Have u tried ROS to finish visualization ? I don't know how to convert them correctly.

hopef commented 11 months ago

Nv::Tensor is just a data structure that stores a matrix. You can get its raw data pointer. There is nothing special about it.

artofstate commented 11 months ago

Sorry, Could you please show me in detail? How to get the position of every point with nv::Tensor type? In Cuda_BEVFusion/src/main.cpp, auto lidar_points = nv::Tensor::load(nv::format("%s/points.tensor", data), false); Then I'v tried std::cout<<(unsigned short)lidar_pointes.ptr()<<std::endl; I got a strange output.