Comments (12)
You could replace it with brute force nn.
https://github.com/neka-nat/cupoch/blob/master/src/cupoch/geometry/bruteforce_nn.h
I haven't tried it, so it may not be faster.
from cupoch.
Thank you, but I found that building kdtree in cupoch on gpu; and kdtree in open3d on cpu, the latter is faster, how should I explain this?
from cupoch.
Yes.
It depends on the number of points. the GPU is effective only when the number of points is more than 0.1~1 million.
from cupoch.
My point count is always around 2000, so can change it to build kdtree on cpu?
from cupoch.
For that number, the cpu is the better choice. faster.
from cupoch.
Yes, I want to use the cpu version of kdtree in Cupoch. Is this feasible?
from cupoch.
The cpu version is not implemented, so please use open3d or scipy's kdtree.
from cupoch.
I put the kdtree of open3d in the 3rdparty of Cupoch, and then recompile, is this feasible?
from cupoch.
I'm sure you can.
from cupoch.
ok ,thank you
from cupoch.
Build kdtree on cpu and gpu respectively. The difference lies in uploadtreetoGPU. This step takes more time, for a small number of point clouds (around 2000). I have completed the compilation of the cpu version of kdtree in Cupoch, but there is a problem with the operation, because the modules in the cupoch (such as EstimateNormals and ComputeFPFHFeature) are completed in the GPU, but the search kdtree is completed in the cpu, which is incompatible. Do you have any suggestions?
from cupoch.
If the number of points is about 2000, it would be faster to use the CPU for calculations other than kdtree.
from cupoch.
Related Issues (20)
- Redefinition problem of 3rd party lib when use Cupoch side by side with Open3D
- Outlier Removal Not working HOT 1
- Poisson's surface reconstruction
- Getting cudaErrorMemoryAllocation out of memory HOT 6
- fastglobalregistration.cu have error HOT 1
- icp TransformationEstimationPointToPlane yields different result compare to open3d
- stdgpu::vector::size : Size out of bounds: -120 not in [0, 17527]. Clamping to 0 HOT 1
- Building SHARED_LIBS and run registration_cuda will crash.
- Implementation of LaserScanBuffer::CreateFromPointCloud(pointcloud_to_laserscan)
- Unable to Read Binary PLY File
- speed performace VS open3d HOT 1
- Error: OS call failed or operation not supported on this OS phong_shader.cu:330 HOT 1
- Check collision between a mesh and a set of points.
- The result of using ClusterDBSCAN() is wrong, it treats each point as a cluster HOT 4
- compile C++ static lib fail (master-v0.2.8.1), content of src/cupoch/visualization/shader/shader.h is wrong HOT 4
- registration_ransac_based_on_feature_matching
- cupoch is slower than open3d-cpu and open3d-gpu HOT 2
- How to set point cloud as numpy array HOT 2
- ICP algorithm have CUDA version? HOT 3
- MemoryError cph.initialize_allocator(cph.PoolAllocation, 1000000000) HOT 5
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from cupoch.