leif-FLNV
commented
3 years ago when I run the "./demo [*.pcd]" in the directory of cuda-icp, just got the result: GPU has cuda devices: 1 ----device id: 0 info---- GPU : Xavier Capbility: 7.2 Global memory: 31918MB Const memory: 64KB SM in a block: 48KB warp size: 32 threads in a block: 1024 block dim: (1024,1024,64) grid dim: (2147483647,65535,65535)
Loaded 7000 data points for P with the following fields: x y z Loaded 7000 data points for Q with the following fields: x y z iter.Maxiterate 0 iter.threshold 1e-12 iter.acceptrate 1
Target rigid transformation : cloud_in -> cloud_icp Rotation matrix : | 0.923880 -0.382683 0.000000 | R = | 0.382683 0.923880 0.000000 | | 0.000000 0.000000 1.000000 | Translation vector : t = < 0.000000, 0.000000, 0.200000 >
------------checking CUDA ICP(GPU)---------------- CUDA ICP by Time: 0.797888 ms. CUDA ICP fitness_score: 0.777453 matrix_icp calculated Matrix by Class ICP Rotation matrix : | 1.000000 0.000000 -0.000000 | R = | -0.000000 1.000000 0.000000 | | -0.000000 0.000000 1.000000 | Translation vector : t = < -0.000000, 0.000000, -0.000000 >
------------checking PCL ICP(CPU)---------------- PCL icp.align Time: 38.2758 ms. has converged: 1 score: 0.651369 CUDA ICP fitness_score: 0.651369 transformation_matrix: 0.999905 0.00279406 0.0134922 0.0161865 -0.00265722 0.999945 -0.010151 0.00527596 -0.0135198 0.0101141 0.999858 0.0133578 0 0 0 1
------------checking PCL GICP(CPU)---------------- PCL Gicp.align Time: 144.663 ms. has converged: 1 score: 0.541552 transformation_matrix: 0.99874 0.00468762 0.0499603 -0.0427716 -0.00344507 0.999683 -0.0249281 0.0265501 -0.0500613 0.0247246 0.99844 0.148036 0 0 0 1
so,I really want to know how to display the result,just like https://developer.nvidia.com/zh-cn/blog/cuda-pcl-1-0-jetson/
There will be three .pcd: cuda.pcd, ICP.pcd, GICP.pcd in the same dir after "./demo". You can use the command below to install "pcl_viewer" which can be used to show .pcd sudo apt-get install pcl-tools
when I run the "./demo [*.pcd]" in the directory of cuda-icp, just got the result: GPU has cuda devices: 1 ----device id: 0 info---- GPU : Xavier Capbility: 7.2 Global memory: 31918MB Const memory: 64KB SM in a block: 48KB warp size: 32 threads in a block: 1024 block dim: (1024,1024,64) grid dim: (2147483647,65535,65535)
Loaded 7000 data points for P with the following fields: x y z Loaded 7000 data points for Q with the following fields: x y z iter.Maxiterate 0 iter.threshold 1e-12 iter.acceptrate 1
Target rigid transformation : cloud_in -> cloud_icp Rotation matrix : | 0.923880 -0.382683 0.000000 | R = | 0.382683 0.923880 0.000000 | | 0.000000 0.000000 1.000000 | Translation vector : t = < 0.000000, 0.000000, 0.200000 >
------------checking CUDA ICP(GPU)---------------- CUDA ICP by Time: 0.797888 ms. CUDA ICP fitness_score: 0.777453 matrix_icp calculated Matrix by Class ICP Rotation matrix : | 1.000000 0.000000 -0.000000 | R = | -0.000000 1.000000 0.000000 | | -0.000000 0.000000 1.000000 | Translation vector : t = < -0.000000, 0.000000, -0.000000 >
------------checking PCL ICP(CPU)---------------- PCL icp.align Time: 38.2758 ms. has converged: 1 score: 0.651369 CUDA ICP fitness_score: 0.651369 transformation_matrix: 0.999905 0.00279406 0.0134922 0.0161865 -0.00265722 0.999945 -0.010151 0.00527596 -0.0135198 0.0101141 0.999858 0.0133578 0 0 0 1
------------checking PCL GICP(CPU)---------------- PCL Gicp.align Time: 144.663 ms. has converged: 1 score: 0.541552 transformation_matrix: 0.99874 0.00468762 0.0499603 -0.0427716 -0.00344507 0.999683 -0.0249281 0.0265501 -0.0500613 0.0247246 0.99844 0.148036 0 0 0 1
so,I really want to know how to display the result,just like https://developer.nvidia.com/zh-cn/blog/cuda-pcl-1-0-jetson/