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NVIDIA-AI-IOT / cuPCL

A project demonstrating how to use the libs of cuPCL.
MIT License
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why cuNDT cannot work with x86 version ubuntu20.04 #50

Open pauls0323 opened 1 year ago

pauls0323 commented 1 year ago

:~/cuPCL/cuNDT$ ./demo

GPU has cuda devices: 1 ----device id: 0 info---- GPU : NVIDIA A800 80GB PCIe Capbility: 8.0 Global memory: 81085MB 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 Target rigid transformation : cloud_P -> cloud_Q 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 PCL NDT(CPU)---------------- PCL align Time: 27.1937 ms. Normal Distributions Transform has converged: 1 score: 0.648334 Rotation matrix : | 0.999894 0.004857 0.013688 | R = | -0.004680 0.999905 -0.012931 | | -0.013750 0.012865 0.999823 | Translation vector : t = < 0.015418, 0.056840, 0.078443 >

------------checking CUDA NDT(GPU)---------------- CUDA NDT by Time: 0.777725 ms. CUDA NDT fitness_score: 0.349491 Rotation matrix : | 0.000000 0.000000 0.000000 | R = | 0.000000 0.000000 0.000000 | | 0.000000 0.000000 0.000000 | Translation vector : t = < 0.000000, 0.000000, 0.000000 >

QYChan commented 1 year ago

x86 Ubuntu18.04 can not work either

GPU has cuda devices: 1
----device id: 0 info----
  GPU : NVIDIA GeForce RTX 3060 
  Capbility: 8.6
  Global memory: 12036MB
  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
Target rigid transformation : cloud_P -> cloud_Q
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 PCL NDT(CPU)---------------- 
PCL align Time: 48.3015 ms.
Normal Distributions Transform has converged: 1 score: 0.540197
Rotation matrix :
    | 0.999237 0.009737 0.037825 | 
R = | -0.008490 0.999419 -0.033002 | 
    | -0.038124 0.032655 0.998739 | 
Translation vector :
t = < 0.038175, 0.110290, 0.185038 >

------------checking CUDA NDT(GPU)---------------- 
CUDA NDT by Time: 0.596691 ms.
CUDA NDT fitness_score: 0.349491
Rotation matrix :
    | 0.000000 0.000000 0.000000 | 
R = | 0.000000 0.000000 0.000000 | 
    | 0.000000 0.000000 0.000000 | 
Translation vector :
t = < 0.000000, 0.000000, 0.000000 >