OrcunCanDeniz/cupoch_tuts

Pointcloud preprocessing using cupoch with ROS

Cupoch Installation

Download eigen 3.3.7.

cd eigen-3.3.7
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr
sudo make install

Follow tutorial below to install cupoch. https://github.com/ZhenshengLee/perception_cupoch/blob/noetic/cupoch_conversions/docs/tutorial.md

Interfacing ROS

https://github.com/ZhenshengLee/perception_cupoch

Clone repo and build as

export GPUAC_COMPILE_WITH_CUDA=1
catkin build -DCMAKE_BUILD_TYPE=Release

Potential Issues

• neka-nat/cupoch#83
• ZhenshengLee/perception_cupoch#14 (comment)

Takeaways from this work

• Transform+concat : ~2.2 ms for cupoch, ~3.3ms for pcl.
• " Global crop -> self crop -> voxel grid " pipeline in single node: pcl ~21 ms cupoch ~12ms
• Some pointcloud registration algorithms are implemented in cupoch. Might be useful in the future