Repository: botforge/CUDA-ScanMatcher-ICP
Branch: master
Commit: 7e3ca31c8c2e
Files: 303
Total size: 17.8 MB
Directory structure:
gitextract_aq3e9awg/
├── .gitignore
├── CMakeLists.txt
├── GNUmakefile
├── LICENSE
├── README.md
├── bigwaymo.txt
├── buddha.ply
├── bunny.ply
├── cmake/
│ ├── CUDAComputesList.cmake
│ ├── FindGLEW.cmake
│ ├── FindGLFW.cmake
│ ├── FindGLM.cmake
│ └── cuda_compute_capability.cpp
├── dragon.ply
├── external/
│ ├── .gitignore
│ ├── include/
│ │ ├── GL/
│ │ │ ├── Copying.txt
│ │ │ ├── LICENSE.txt
│ │ │ ├── Readme.txt
│ │ │ ├── eglew.h
│ │ │ ├── glew.h
│ │ │ ├── glxew.h
│ │ │ └── wglew.h
│ │ ├── GLFW/
│ │ │ ├── COPYING.txt
│ │ │ ├── glfw3.h
│ │ │ └── glfw3native.h
│ │ └── glm/
│ │ ├── CMakeLists.txt
│ │ ├── common.hpp
│ │ ├── detail/
│ │ │ ├── _features.hpp
│ │ │ ├── _fixes.hpp
│ │ │ ├── _noise.hpp
│ │ │ ├── _swizzle.hpp
│ │ │ ├── _swizzle_func.hpp
│ │ │ ├── _vectorize.hpp
│ │ │ ├── dummy.cpp
│ │ │ ├── func_common.hpp
│ │ │ ├── func_common.inl
│ │ │ ├── func_exponential.hpp
│ │ │ ├── func_exponential.inl
│ │ │ ├── func_geometric.hpp
│ │ │ ├── func_geometric.inl
│ │ │ ├── func_integer.hpp
│ │ │ ├── func_integer.inl
│ │ │ ├── func_matrix.hpp
│ │ │ ├── func_matrix.inl
│ │ │ ├── func_noise.hpp
│ │ │ ├── func_noise.inl
│ │ │ ├── func_packing.hpp
│ │ │ ├── func_packing.inl
│ │ │ ├── func_trigonometric.hpp
│ │ │ ├── func_trigonometric.inl
│ │ │ ├── func_vector_relational.hpp
│ │ │ ├── func_vector_relational.inl
│ │ │ ├── glm.cpp
│ │ │ ├── intrinsic_common.hpp
│ │ │ ├── intrinsic_common.inl
│ │ │ ├── intrinsic_exponential.hpp
│ │ │ ├── intrinsic_exponential.inl
│ │ │ ├── intrinsic_geometric.hpp
│ │ │ ├── intrinsic_geometric.inl
│ │ │ ├── intrinsic_integer.hpp
│ │ │ ├── intrinsic_integer.inl
│ │ │ ├── intrinsic_matrix.hpp
│ │ │ ├── intrinsic_matrix.inl
│ │ │ ├── intrinsic_trigonometric.hpp
│ │ │ ├── intrinsic_trigonometric.inl
│ │ │ ├── intrinsic_vector_relational.hpp
│ │ │ ├── intrinsic_vector_relational.inl
│ │ │ ├── precision.hpp
│ │ │ ├── setup.hpp
│ │ │ ├── type_float.hpp
│ │ │ ├── type_gentype.hpp
│ │ │ ├── type_gentype.inl
│ │ │ ├── type_half.hpp
│ │ │ ├── type_half.inl
│ │ │ ├── type_int.hpp
│ │ │ ├── type_mat.hpp
│ │ │ ├── type_mat.inl
│ │ │ ├── type_mat2x2.hpp
│ │ │ ├── type_mat2x2.inl
│ │ │ ├── type_mat2x3.hpp
│ │ │ ├── type_mat2x3.inl
│ │ │ ├── type_mat2x4.hpp
│ │ │ ├── type_mat2x4.inl
│ │ │ ├── type_mat3x2.hpp
│ │ │ ├── type_mat3x2.inl
│ │ │ ├── type_mat3x3.hpp
│ │ │ ├── type_mat3x3.inl
│ │ │ ├── type_mat3x4.hpp
│ │ │ ├── type_mat3x4.inl
│ │ │ ├── type_mat4x2.hpp
│ │ │ ├── type_mat4x2.inl
│ │ │ ├── type_mat4x3.hpp
│ │ │ ├── type_mat4x3.inl
│ │ │ ├── type_mat4x4.hpp
│ │ │ ├── type_mat4x4.inl
│ │ │ ├── type_vec.hpp
│ │ │ ├── type_vec.inl
│ │ │ ├── type_vec1.hpp
│ │ │ ├── type_vec1.inl
│ │ │ ├── type_vec2.hpp
│ │ │ ├── type_vec2.inl
│ │ │ ├── type_vec3.hpp
│ │ │ ├── type_vec3.inl
│ │ │ ├── type_vec4.hpp
│ │ │ ├── type_vec4.inl
│ │ │ ├── type_vec4_avx.inl
│ │ │ ├── type_vec4_avx2.inl
│ │ │ └── type_vec4_sse2.inl
│ │ ├── exponential.hpp
│ │ ├── ext.hpp
│ │ ├── fwd.hpp
│ │ ├── geometric.hpp
│ │ ├── glm.hpp
│ │ ├── gtc/
│ │ │ ├── bitfield.hpp
│ │ │ ├── bitfield.inl
│ │ │ ├── constants.hpp
│ │ │ ├── constants.inl
│ │ │ ├── epsilon.hpp
│ │ │ ├── epsilon.inl
│ │ │ ├── integer.hpp
│ │ │ ├── integer.inl
│ │ │ ├── matrix_access.hpp
│ │ │ ├── matrix_access.inl
│ │ │ ├── matrix_integer.hpp
│ │ │ ├── matrix_inverse.hpp
│ │ │ ├── matrix_inverse.inl
│ │ │ ├── matrix_transform.hpp
│ │ │ ├── matrix_transform.inl
│ │ │ ├── noise.hpp
│ │ │ ├── noise.inl
│ │ │ ├── packing.hpp
│ │ │ ├── packing.inl
│ │ │ ├── quaternion.hpp
│ │ │ ├── quaternion.inl
│ │ │ ├── random.hpp
│ │ │ ├── random.inl
│ │ │ ├── reciprocal.hpp
│ │ │ ├── reciprocal.inl
│ │ │ ├── round.hpp
│ │ │ ├── round.inl
│ │ │ ├── type_precision.hpp
│ │ │ ├── type_precision.inl
│ │ │ ├── type_ptr.hpp
│ │ │ ├── type_ptr.inl
│ │ │ ├── ulp.hpp
│ │ │ ├── ulp.inl
│ │ │ ├── vec1.hpp
│ │ │ └── vec1.inl
│ │ ├── gtx/
│ │ │ ├── associated_min_max.hpp
│ │ │ ├── associated_min_max.inl
│ │ │ ├── bit.hpp
│ │ │ ├── bit.inl
│ │ │ ├── closest_point.hpp
│ │ │ ├── closest_point.inl
│ │ │ ├── color_space.hpp
│ │ │ ├── color_space.inl
│ │ │ ├── color_space_YCoCg.hpp
│ │ │ ├── color_space_YCoCg.inl
│ │ │ ├── common.hpp
│ │ │ ├── common.inl
│ │ │ ├── compatibility.hpp
│ │ │ ├── compatibility.inl
│ │ │ ├── component_wise.hpp
│ │ │ ├── component_wise.inl
│ │ │ ├── dual_quaternion.hpp
│ │ │ ├── dual_quaternion.inl
│ │ │ ├── euler_angles.hpp
│ │ │ ├── euler_angles.inl
│ │ │ ├── extend.hpp
│ │ │ ├── extend.inl
│ │ │ ├── extented_min_max.hpp
│ │ │ ├── extented_min_max.inl
│ │ │ ├── fast_exponential.hpp
│ │ │ ├── fast_exponential.inl
│ │ │ ├── fast_square_root.hpp
│ │ │ ├── fast_square_root.inl
│ │ │ ├── fast_trigonometry.hpp
│ │ │ ├── fast_trigonometry.inl
│ │ │ ├── gradient_paint.hpp
│ │ │ ├── gradient_paint.inl
│ │ │ ├── handed_coordinate_space.hpp
│ │ │ ├── handed_coordinate_space.inl
│ │ │ ├── integer.hpp
│ │ │ ├── integer.inl
│ │ │ ├── intersect.hpp
│ │ │ ├── intersect.inl
│ │ │ ├── io.hpp
│ │ │ ├── io.inl
│ │ │ ├── log_base.hpp
│ │ │ ├── log_base.inl
│ │ │ ├── matrix_cross_product.hpp
│ │ │ ├── matrix_cross_product.inl
│ │ │ ├── matrix_decompose.hpp
│ │ │ ├── matrix_decompose.inl
│ │ │ ├── matrix_interpolation.hpp
│ │ │ ├── matrix_interpolation.inl
│ │ │ ├── matrix_major_storage.hpp
│ │ │ ├── matrix_major_storage.inl
│ │ │ ├── matrix_operation.hpp
│ │ │ ├── matrix_operation.inl
│ │ │ ├── matrix_query.hpp
│ │ │ ├── matrix_query.inl
│ │ │ ├── matrix_transform_2d.hpp
│ │ │ ├── matrix_transform_2d.inl
│ │ │ ├── mixed_product.hpp
│ │ │ ├── mixed_product.inl
│ │ │ ├── multiple.hpp
│ │ │ ├── multiple.inl
│ │ │ ├── norm.hpp
│ │ │ ├── norm.inl
│ │ │ ├── normal.hpp
│ │ │ ├── normal.inl
│ │ │ ├── normalize_dot.hpp
│ │ │ ├── normalize_dot.inl
│ │ │ ├── number_precision.hpp
│ │ │ ├── number_precision.inl
│ │ │ ├── optimum_pow.hpp
│ │ │ ├── optimum_pow.inl
│ │ │ ├── orthonormalize.hpp
│ │ │ ├── orthonormalize.inl
│ │ │ ├── perpendicular.hpp
│ │ │ ├── perpendicular.inl
│ │ │ ├── polar_coordinates.hpp
│ │ │ ├── polar_coordinates.inl
│ │ │ ├── projection.hpp
│ │ │ ├── projection.inl
│ │ │ ├── quaternion.hpp
│ │ │ ├── quaternion.inl
│ │ │ ├── range.hpp
│ │ │ ├── raw_data.hpp
│ │ │ ├── raw_data.inl
│ │ │ ├── rotate_normalized_axis.hpp
│ │ │ ├── rotate_normalized_axis.inl
│ │ │ ├── rotate_vector.hpp
│ │ │ ├── rotate_vector.inl
│ │ │ ├── scalar_multiplication.hpp
│ │ │ ├── scalar_relational.hpp
│ │ │ ├── scalar_relational.inl
│ │ │ ├── simd_mat4.hpp
│ │ │ ├── simd_mat4.inl
│ │ │ ├── simd_quat.hpp
│ │ │ ├── simd_quat.inl
│ │ │ ├── simd_vec4.hpp
│ │ │ ├── simd_vec4.inl
│ │ │ ├── spline.hpp
│ │ │ ├── spline.inl
│ │ │ ├── std_based_type.hpp
│ │ │ ├── std_based_type.inl
│ │ │ ├── string_cast.hpp
│ │ │ ├── string_cast.inl
│ │ │ ├── transform.hpp
│ │ │ ├── transform.inl
│ │ │ ├── transform2.hpp
│ │ │ ├── transform2.inl
│ │ │ ├── type_aligned.hpp
│ │ │ ├── type_aligned.inl
│ │ │ ├── vector_angle.hpp
│ │ │ ├── vector_angle.inl
│ │ │ ├── vector_query.hpp
│ │ │ ├── vector_query.inl
│ │ │ ├── wrap.hpp
│ │ │ └── wrap.inl
│ │ ├── integer.hpp
│ │ ├── mat2x2.hpp
│ │ ├── mat2x3.hpp
│ │ ├── mat2x4.hpp
│ │ ├── mat3x2.hpp
│ │ ├── mat3x3.hpp
│ │ ├── mat3x4.hpp
│ │ ├── mat4x2.hpp
│ │ ├── mat4x3.hpp
│ │ ├── mat4x4.hpp
│ │ ├── matrix.hpp
│ │ ├── packing.hpp
│ │ ├── trigonometric.hpp
│ │ ├── vec2.hpp
│ │ ├── vec3.hpp
│ │ ├── vec4.hpp
│ │ └── vector_relational.hpp
│ └── lib/
│ ├── glew32s.lib
│ ├── glfw3.lib
│ └── vc2015/
│ ├── glew32s.lib
│ └── glfw3.lib
├── shaders/
│ ├── boid.frag.glsl
│ ├── boid.geom.glsl
│ └── boid.vert.glsl
├── simple_octree.txt
├── src/
│ ├── W.cu
│ ├── cudaMat4.hpp
│ ├── glslUtility.cpp
│ ├── glslUtility.hpp
│ ├── main.cpp
│ ├── main.hpp
│ ├── octree.cu
│ ├── octree.h
│ ├── pointcloud.cu
│ ├── pointcloud.h
│ ├── scanmatch.cu
│ ├── scanmatch.h
│ ├── svd3.h
│ ├── utilityCore.cpp
│ └── utilityCore.hpp
└── waymo.txt
================================================
FILE CONTENTS
================================================
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================================================
FILE: CMakeLists.txt
================================================
cmake_minimum_required(VERSION 3.1)
project(cis565_ScanMatching)
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
# Enable C++11 for host code
set(CMAKE_CXX_STANDARD 11)
# Set a default build type if none was specified
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
# Set the possible values of build type for cmake-gui
SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()
########################################
# CUDA Setup
########################################
find_package(CUDA 10 REQUIRED)
include(${CMAKE_MODULE_PATH}/CUDAComputesList.cmake)
list(APPEND CUDA_NVCC_FLAGS ${CUDA_GENERATE_CODE})
list(APPEND CUDA_NVCC_FLAGS_DEBUG "-g -G")
set(CUDA_VERBOSE_BUILD ON)
if(WIN32)
# Set up include and lib paths
set(CUDA_HOST_COMPILER ${CMAKE_CXX_COMPILER} CACHE FILEPATH "Host side compiler used by NVCC" FORCE)
endif(WIN32)
########################################
find_package(OpenGL REQUIRED)
if(UNIX)
find_package(glfw3 REQUIRED)
find_package(GLEW REQUIRED)
set(LIBRARIES glfw ${GLEW_LIBRARIES} ${OPENGL_gl_LIBRARY})
else(UNIX)
set(EXTERNAL "external")
set(GLFW_ROOT_DIR ${EXTERNAL})
set(GLFW_USE_STATIC_LIBS ON)
find_package(GLFW REQUIRED)
set(GLEW_ROOT_DIR ${EXTERNAL})
set(GLEW_USE_STATIC_LIBS ON)
find_package(GLEW REQUIRED)
add_definitions(${GLEW_DEFINITIONS})
include_directories(${GLEW_INCLUDE_DIR} ${GLFW_INCLUDE_DIR})
set(LIBRARIES ${GLEW_LIBRARY} ${GLFW_LIBRARY} ${OPENGL_LIBRARY})
endif(UNIX)
set(GLM_ROOT_DIR "external")
find_package(GLM REQUIRED)
include_directories(${GLM_INCLUDE_DIRS})
set(headers
src/cudaMat4.hpp
src/glslUtility.hpp
src/scanmatch.h
src/octree.h
src/main.hpp
src/pointcloud.h
src/utilityCore.hpp
)
set(sources
src/glslUtility.cpp
src/scanmatch.cu
src/octree.cu
src/main.cpp
src/pointcloud.cu
src/utilityCore.cpp
)
list(SORT headers)
list(SORT sources)
source_group(Headers FILES ${headers})
source_group(Sources FILES ${sources})
cuda_add_executable(${CMAKE_PROJECT_NAME} ${sources} ${headers})
target_link_libraries(${CMAKE_PROJECT_NAME} ${LIBRARIES})
add_custom_command(
TARGET ${CMAKE_PROJECT_NAME}
PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory
${CMAKE_SOURCE_DIR}/shaders
${CMAKE_BINARY_DIR}/shaders
)
================================================
FILE: GNUmakefile
================================================
CMAKE_ALT1 := /usr/local/bin/cmake
CMAKE_ALT2 := /Applications/CMake.app/Contents/bin/cmake
CMAKE := $(shell \
which cmake 2>/dev/null || \
([ -e ${CMAKE_ALT1} ] && echo "${CMAKE_ALT1}") || \
([ -e ${CMAKE_ALT2} ] && echo "${CMAKE_ALT2}") \
)
all: Release
Debug: build
(cd build && ${CMAKE} -DCMAKE_BUILD_TYPE=$@ .. && make)
MinSizeRel: build
(cd build && ${CMAKE} -DCMAKE_BUILD_TYPE=$@ .. && make)
Release: build
(cd build && ${CMAKE} -DCMAKE_BUILD_TYPE=$@ .. && make)
RelWithDebugInfo: build
(cd build && ${CMAKE} -DCMAKE_BUILD_TYPE=$@ .. && make)
build:
mkdir -p build
clean:
((cd build && make clean) 2>&- || true)
.PHONY: all Debug MinSizeRel Release RelWithDebugInfo clean
================================================
FILE: LICENSE
================================================
MIT License
Copyright (c) 2020 Dhruv Karthik
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
================================================
FILE: README.md
================================================
CUDA Scan Matcher via ICP - Octree Optimized
===============================================================================
**University of Pennsylvania, CIS 565: GPU Programming and Architecture**
Dhruv Karthik: [LinkedIn](https://www.linkedin.com/in/dhruvkarthik/)
Tested on: Windows 10 Home, Intel(R) Core(TM) i7-8700 CPU @ 3.20GHz, 16GM, GTX 2070 - Compute Capability 7.5
____________________________________________________________________________________
   
____________________________________________________________________________________
Table of contents
=================
* [Scan Matching Algorithm](#scan-matching-algorithm)
* [Results](#results)
* [Octree Optimization](#sparse-octree-optimization)
* [Performance Analysis](#performance-analysis)
* [Build Instructions](#build-instructions)
* [Running The Code](#running-the-code)
# Scan Matching Algorithm
An intuitive understanding of Scan Matching is best illustrated in this 11 second [video](https://www.youtube.com/watch?v=uzOCS_gdZuM).
Scan Matching seeks to align two similar pointclouds by finding the transformation between them. It does so via the iterative closest point algorithm outlined below in pseudocode:
```bash
#Aligns pointcloud A to pointcloud B
def scan_match(pointcloud A, pointcloud B):
1. For each point in A, find the closest point in B
2. Compute a 3-D transformation matrix that aligns the points (Use SVD & Least Squares Regression)
3. Update all points in the target by the transformation matrix
4. Repeat steps 1-3 until some epsilon convergence
RETURN : Some Transformation matrix T
```
The key benefit from CUDA is in step 1. Finding the nearest neighbors synchronously takes far longer than finding nearest neighbors via some optimized datastructure like an octree. I implemented 3 versions: A CPU version, a Naive CUDA version, and an Octree version.
# Results
# Sparse Octree Optimization
A sparse octree is an optimized datastructure that allows for fast nearest neighbor calculations. It is represented as a tree in which each internal node has exactly eight children. We use octrees in order to subdivide our 3D space, ensuring that no *octant* has more than *n* points. If some node has more than *n* vertices, we recursively subdivide this node by splitting it into eight children, and redistributing the points among these 8 children. This speeds up nearest neighbor searches as now, we only need to search for neighbors within our octant.
# Performance Analysis
In order to test the varying number of points, I generated a 3D sinusoid with various widths, thereby increasing the number of points.
## Increasing speed of Nearest Neighbor Search
The table below illustrates the effect of each algorithm on the speed of nearest neighbor search. Clearly, the GPU-Octree performs NN the fastest, as it iterates only through points inside its octant. The Naive GPU iterates through all the points, but does so paralelly, and is therefore faster than the CPU that does so in a triple for loop sequentially.
**Number of points vs Time Taken (ms) for Nearest Neighbor Search (lower is better)**
| Num Points | CPU | GPU-Naive | GPU-Octree |
|------------ |-------- |----------- |------------ |
| 5 | 0 | 5 | 8 |
| 500 | 1268 | 8 | 3 |
| 2500 | 23000 | 573 | 164 |
| 5000 | 94000 | 903 | 193 |
| 250000 | 861000 | 14000 | 400 |
## Effect of Increasing NN on framerate
Below, we clearly see that the decrease in time across the algorithm directly contributes to an increase in framerate. Astonishingly, we see an over 1000% improvement over the CPU algorithm:
