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fix(cuda_pointcloud_preprocessor): backporting cuda pointcloud preprocessor #11714 #2567

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Merged
rej55 merged 1 commit into from
Dec 4, 2025
Merged

fix(cuda_pointcloud_preprocessor): backporting cuda pointcloud preprocessor #11714 #2567

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5 changes: 3 additions & 2 deletions ..._pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -341,8 +341,9 @@ std::unique_ptr<cuda_blackboard::CudaPointCloud2> CudaPointcloudPreprocessor::pr
transform_struct.m33 = static_cast<float>(rotation_matrix.getRow(2).getZ());

// Twist preprocessing
std::uint64_t pointcloud_stamp_nsec = 1'000'000'000 * input_pointcloud_msg.header.stamp.sec +
input_pointcloud_msg.header.stamp.nanosec;
std::uint64_t pointcloud_stamp_nsec =
static_cast<std::uint64_t>(1'000'000'000) * input_pointcloud_msg.header.stamp.sec +
input_pointcloud_msg.header.stamp.nanosec;

if (undistortion_type_ == UndistortionType::Undistortion3D) {
setupTwist3DStructs(
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6 changes: 4 additions & 2 deletions ...toware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/undistort_kernels.cu
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Expand Up @@ -237,7 +237,8 @@ void setupTwist2DStructs(
twist.last_stamp_nsec = last_stamp_nsec;
host_twist_2d_structs.push_back(twist);

double dt_seconds = 1e-9 * (twist.stamp_nsec - last_stamp_nsec);
double dt_seconds =
1e-9 * (static_cast<double>(twist.stamp_nsec) - static_cast<double>(last_stamp_nsec));
last_stamp_nsec = twist.stamp_nsec;
cum_theta += v_theta * dt_seconds;
float d = twist.v_x * dt_seconds;
Expand Down Expand Up @@ -330,7 +331,8 @@ void setupTwist3DStructs(
twist.last_stamp_nsec = last_stamp_nsec;
host_twist_3d_structs.push_back(twist);

double dt_seconds = 1e-9 * (twist.stamp_nsec - last_stamp_nsec);
double dt_seconds =
1e-9 * (static_cast<double>(twist.stamp_nsec) - static_cast<double>(last_stamp_nsec));
last_stamp_nsec = twist.stamp_nsec;

auto delta_transform = transformationMatrixFromVelocity(v, w, dt_seconds);
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