Merge branch 'master'

Author: valgur

.github/workflows/ubuntu.yml

@@ -24,20 +24,11 @@ jobs:
       uses: actions/setup-python@v1
       with:
         python-version: ${{ matrix.python-version }}
-    - name: Install CUDA
-      env:
-        cuda: "11.2"
-      run: |
-        source ./scripts/actions/install_cuda_ubuntu.sh
-        sudo ln -s /usr/local/cuda-${cuda}/ /usr/local/cuda
-        if [[ $? -eq 0 ]]; then
-          # Set paths for subsequent steps, using ${CUDA_PATH}
-          echo "Adding CUDA to CUDA_PATH, PATH and LD_LIBRARY_PATH"
-          echo "CUDA_PATH=${CUDA_PATH}" >> $GITHUB_ENV
-          echo "${CUDA_PATH}/bin" >> $GITHUB_PATH
-          echo "LD_LIBRARY_PATH=${CUDA_PATH}/lib:${LD_LIBRARY_PATH}" >> $GITHUB_ENV
-        fi
-      shell: bash
+    - name: Install CUDA 
+      uses: Jimver/[email protected]
+      id: cuda-toolkit
+      with:
+        cuda: '11.7.0'
     - name: Install dependencies
       run: |
         ./scripts/actions/install_deps_ubuntu.sh

.github/workflows/windows.yml

@@ -47,20 +47,11 @@ jobs:
       run: pip install -U conan
 
     - name: Install CUDA 
-      env: 
-        cuda: ${{ matrix.cuda }}
-        visual_studio: ${{ matrix.visual_studio }}
-      shell: powershell
-      run: |
-        # Install CUDA via a powershell script
-        .\scripts\actions\install_cuda_windows.ps1
-        if ($?) {
-          # Set paths for subsequent steps, using $env:CUDA_PATH
-          echo "Adding CUDA to CUDA_PATH, CUDA_PATH_X_Y and PATH"
-          echo "CUDA_PATH=$env:CUDA_PATH" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-          echo "$env:CUDA_PATH_VX_Y=$env:CUDA_PATH" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-          echo "$env:CUDA_PATH/bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        }
+      uses: Jimver/[email protected]
+      id: cuda-toolkit
+      with:
+        cuda: '11.7.0'
+
     - name: nvcc check
       shell: powershell
       run: |

CMakeLists.txt

@@ -136,7 +136,7 @@ if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
     # Newer but not listed GPUs will JIT compile on launch.
     set(CMAKE_CUDA_ARCHITECTURES 61)
 endif()
-target_compile_features(cupoch_flags INTERFACE cxx_std_14 $<BUILD_INTERFACE:cuda_std_14>)
+target_compile_features(cupoch_flags INTERFACE cxx_std_17 $<BUILD_INTERFACE:cuda_std_17>)
 target_compile_options(cupoch_flags INTERFACE
     "$<$<COMPILE_LANGUAGE:CUDA>:--expt-relaxed-constexpr>"
     "$<$<COMPILE_LANGUAGE:CUDA>:--expt-extended-lambda>"

README.md

@@ -58,7 +58,7 @@ This repository is based on [Open3D](https://github.com/intel-isl/Open3D).
 
 ## Installation
 
-This library is packaged under 64 Bit Ubuntu Linux 20.04 and CUDA 11.2.
+This library is packaged under 64 Bit Ubuntu Linux 20.04 and CUDA 11.7.
 You can install cupoch using pip.
 
 ```
@@ -87,17 +87,16 @@ sudo apt-get install libxinerama-dev libxcursor-dev libglu1-mesa-dev
 pip3 install cupoch
 ```
 
-Or you can compile it from source.
-Update your version of cmake if necessary.
+Or you can compile it from source. Update your version of cmake if necessary.
 
 ```
-wget https://github.com/Kitware/CMake/releases/download/v3.16.3/cmake-3.16.3.tar.gz
-tar zxvf cmake-3.16.3.tar.gz
-cd cmake-3.16.3
+wget https://github.com/Kitware/CMake/releases/download/v3.18.4/cmake-3.18.4.tar.gz
+tar zxvf cmake-3.18.4.tar.gz
+cd cmake-3.18.4
 ./bootstrap -- -DCMAKE_USE_OPENSSL=OFF
 make && sudo make install
 cd ..
-git clone https://github.com/neka-nat/cupoch.git --recurse
+git clone -b jetson_nano https://github.com/neka-nat/cupoch.git --recurse
 cd cupoch/
 mkdir build
 cd build/

conanfile.py

@@ -10,7 +10,7 @@
 
 class CupochConan(ConanFile):
     name = "cupoch"
-    version = "0.2.6"
+    version = "0.2.7.2"
     package_type = "library"
 
     license = "MIT"

examples/python/advanced/laserscan_convert.py

@@ -0,0 +1,20 @@
+import cupoch as cph
+import numpy as np
+
+
+if __name__ == "__main__":
+    # From point cloud demo
+    pcd = cph.io.read_point_cloud("../../testdata/fragment.ply")
+    laserscan = cph.geometry.LaserScanBuffer.create_from_point_cloud(pcd, 0.01, 0, 10)
+    print(laserscan.num_scans)
+    converted_pcd = cph.geometry.PointCloud.create_from_laserscanbuffer(laserscan, 0.0, 1000.0)
+    cph.visualization.draw_geometries([pcd, converted_pcd])
+
+    # From depth image demo
+    pinhole_camera_intrinsic = cph.io.read_pinhole_camera_intrinsic("../../testdata/camera_primesense.json")
+    print(pinhole_camera_intrinsic.intrinsic_matrix)
+    image = cph.io.read_image("../../testdata/rgbd/depth/00000.png")
+    pcd = cph.geometry.PointCloud.create_from_depth_image(image, pinhole_camera_intrinsic, depth_scale=1000)
+    laserscan = cph.geometry.LaserScanBuffer.create_from_depth_image(image, pinhole_camera_intrinsic, 0.01, 0, 10, depth_scale=1000)
+    converted_pcd = cph.geometry.PointCloud.create_from_laserscanbuffer(laserscan, 0.0, 1000.0)
+    cph.visualization.draw_geometries([pcd, converted_pcd])

examples/python/ros/laserscan.py

@@ -1,7 +1,7 @@
 import numpy as np
 import cupoch as cph
 import rosbag
-import tf.transformations as tftrans
+import transformations as tftrans
 
 bagfile = "../../testdata/Mapping1.bag"
 bag = rosbag.Bag(bagfile)
@@ -30,8 +30,12 @@
         if not initialize:
             scan = cph.geometry.LaserScanBuffer(len(msg.ranges), n_buf, msg.angle_min, msg.angle_max)
             initialize = True
-        if not scan is None:
-            scan.add_ranges(cph.utility.FloatVector(msg.ranges), trans, cph.utility.FloatVector(msg.intensities))
+        if scan is not None:
+            scan.add_host_ranges(
+                cph.utility.HostFloatVector(msg.ranges),
+                trans,
+                cph.utility.HostFloatVector(msg.intensities),
+            )
 
     if initialize and frame % n_buf == 0:
         temp = cph.geometry.PointCloud.create_from_laserscanbuffer(scan, 0.0, 10.0)

examples/python/ros/laserscan_msg_convert.py

@@ -0,0 +1,47 @@
+import numpy as np
+import cupoch as cph
+import rosbag
+from sensor_msgs.msg import LaserScan
+import transformations as tftrans
+
+
+bagfile = "../../testdata/Mapping1.bag"
+bag = rosbag.Bag(bagfile)
+initialize = False
+scan = None
+trans = np.identity(4)
+frame = 0
+n_buf = 50
+for topic, msg, t in bag.read_messages():
+    if topic == "/base_pose_ground_truth":
+        trans = tftrans.quaternion_matrix(
+            [
+                msg.pose.pose.orientation.x,
+                msg.pose.pose.orientation.y,
+                msg.pose.pose.orientation.z,
+                msg.pose.pose.orientation.w,
+            ]
+        )
+        trans[0:3, 3] = [msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z]
+        frame += 1
+
+    if topic == "/base_scan":
+        if not initialize:
+            scan = cph.geometry.LaserScanBuffer(len(msg.ranges), n_buf, msg.angle_min, msg.angle_max)
+            initialize = True
+        if scan is not None:
+            scan.add_host_ranges(
+                cph.utility.HostFloatVector(msg.ranges),
+                trans,
+                cph.utility.HostFloatVector(msg.intensities),
+            )
+
+            new_msg = LaserScan()
+            new_msg.angle_min = scan.min_angle
+            new_msg.angle_max = scan.max_angle
+            new_msg.angle_increment = (scan.max_angle - scan.min_angle) / scan.num_steps
+            new_msg.range_min = 0.0
+            new_msg.range_max = 10000.0
+            new_msg.ranges, new_msg.intensities = scan.pop_host_one_scan()
+            print("------ Original laserscan ------ \n", msg)
+            print("------ Converted laserscan ------\n", new_msg)