feat: accelerate voxel filter #10566
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Manato HIRABAYASHI <[email protected]>
Signed-off-by: Manato HIRABAYASHI <[email protected]>
…ic on pointer to void Signed-off-by: Manato HIRABAYASHI <[email protected]>
Signed-off-by: Manato HIRABAYASHI <[email protected]>
github-actions
bot
added
the
component:sensing
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
Set output format to `Cloud XYZIRC` according to the [design document](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/) Signed-off-by: Manato HIRABAYASHI <[email protected]>
manato
force-pushed
the
feat/accelerate_voxel_filter
branch
from
42c3d19 to
466117b
Compare
xmfcx
added
the
run:build-and-test-differential
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This PR adds a CUDA-accelerated voxel grid downsample implementation.
Related links
Parent Issue:
How was this PR tested?
After this launch, a node named
/cuda_voxel_grid_downsample_filtrersubscribes/sensing/lidar/top/pointcloud_rawas input and publishes/sensing/lidar/top/downsampledas outputThe following figure shows execution time comparison with
autoware::pointcloud_preprocessor::FasterVoxelGridDownsampleFilter(denoted asbefore) and the implementation in this PR (denoted asafter).Notes for reviewers
I qualitatively confirmed that the output of this PR implementation is almost identical to the ones from
autoware::pointcloud_preprocessor::FasterVoxelGridDownsampleFilter. However, I also observed that the number of output points is sometimes different (1 point difference), which I concluded comes from numerical computation differenceInterface changes
None.
Effects on system behavior
None.