first commit

.catkin_workspace

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+# This file currently only serves to mark the location of a catkin workspace for tool integration

src/CMakeLists.txt

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+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

src/ndt_gpu/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ndt_gpu)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3 -mtune=native ")
+set(CMAKE_BUILD_TYPE Release)
+
+find_package(catkin REQUIRED COMPONENTS
+	velodyne_pointcloud
+)
+find_package(PCL REQUIRED)
+find_package(CUDA)
+find_package(Eigen3 REQUIRED)
+
+if (CUDA_FOUND)
+  set_directory_properties(PROPERTIES COMPILE_DEFINITIONS "")
+
+	if(NOT DEFINED CUDA_CAPABILITY_VERSION_CHECKER)
+		set(CUDA_CAPABILITY_VERSION_CHECKER
+			"${CATKIN_DEVEL_PREFIX}/lib/capability_version_checker")
+  endif()
+
+  execute_process(
+	    COMMAND ${CUDA_CAPABILITY_VERSION_CHECKER}
+	    OUTPUT_VARIABLE CUDA_CAPABILITY_VERSION
+	    OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+	if("${CUDA_CAPABILITY_VERSION}" MATCHES "^[1-9][0-9]+$")
+	  set(CUDA_ARCH "sm_75")
+	else()
+	  set(CUDA_ARCH "sm_75")
+	endif()
+
+	set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-arch=${CUDA_ARCH};-std=c++14;--ptxas-options=-v)
+
+	set(SUBSYS_NAME ndt_gpu)
+	set(SUBSYS_DESC "Point cloud ndt gpu library")
+	set(SUBSYS_DEPS common)
+	set(LIB_NAME "fast_pcl_ndt_gpu")
+
+#	catkin_package(
+#  	DEPENDS ${SUBSYS_DEPS}
+#  	INCLUDE_DIRS include
+#   LIBRARIES ${LIB_NAME}
+#  )
+
+  include_directories(
+    ${PCL_INCLUDE_DIRS}
+    ${catkin_INCLUDE_DIRS}
+    ${CUDA_INCLUDE_DIRS}
+    "${CMAKE_CURRENT_SOURCE_DIR}/include"
+  )
+
+	set(srcs
+	  src/MatrixDevice.cu
+		src/MatrixHost.cu
+		src/NormalDistributionsTransform.cu
+		src/Registration.cu
+		src/VoxelGrid.cu
+		src/SymmetricEigenSolver.cu
+	)
+
+	set(incs
+	  include/fast_pcl/ndt_gpu/common.h
+	  include/fast_pcl/ndt_gpu/debug.h
+	  include/fast_pcl/ndt_gpu/Matrix.h
+	  include/fast_pcl/ndt_gpu/MatrixDevice.h
+	  include/fast_pcl/ndt_gpu/MatrixHost.h
+	  include/fast_pcl/ndt_gpu/NormalDistributionsTransform.h
+	  include/fast_pcl/ndt_gpu/Registration.h
+	  include/fast_pcl/ndt_gpu/SymmetricEigenSolver.h
+	  include/fast_pcl/ndt_gpu/VoxelGrid.h
+	)
+
+	cuda_add_library("${LIB_NAME}" ${srcs} ${incs})
+	message("GPU ndt Library is " ${LIB_NAME})
+	target_include_directories("${LIB_NAME}" PRIVATE
+		${CUDA_INCLUDE_DIRS}
+	)
+
+	target_link_libraries("${LIB_NAME}" 
+		${CUDA_LIBRARIES}
+		${CUDA_CUBLAS_LIBRARIES}
+		${CUDA_curand_LIBRARY})
+
+	#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 ")
+	SET(CMAKE_CXX_FLAGS "-std=c++14 -O2 -g -Wall ${CMAKE_CXX_FLAGS}")
+
+	add_executable(test_node src/test_node.cpp)
+	target_link_libraries(test_node
+		${LIB_NAME}
+		#${catkin_LIBRARIES}
+  		${PCL_LIBRARIES}
+	)
+else()
+	message("fast_pcl ndt_gpu requires CUDA")
+endif()

src/ndt_gpu/README.md

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+This is a bug fix version of https://github.com/CPFL/Autoware/tree/master/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu.
+
+CUDA is required to build this program.