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@akira-sasaki(Sasaki Akira)in株式会社GClue

CUDA-PCLとは？

Last updated at Posted at 2021-06-15

CUDA-PCLとは？　

NVIDIAが開発中の、pclライブラリの一部をcudaにより高速化したライブラリ。現在のVersionは1.0、pclは1.8に対応。

Githubのrepo

cuda-pclに対応しているpclライブラリの機能

  • RegistrationのICP
  • FiltersのPassThrough, Voxel
  • SegmentationのSACMODEL_PLANE, SAC_RANSAC

cudaによる高速化ベンチマーク

項目 cpuとの比較
RegistrationのICP 10倍
FiltersのPassThrough, VoxelGrid 6倍
SegmentationのSACMODEL_PLANE, SAC_RANSAC 6倍

対応ハードウェア

Jetson AGX Xavierのみ

情報源　

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