Accepted paper @ IRC 2020, will soon be published.
M. Verucchi, L. Bartoli, F. Bagni, F. Gatti, P. Burgio and M. Bertogna, "Real-Time clustering and LiDAR-camera fusion on embedded platforms for self-driving cars", in proceedings in IEEE Robotic Computing (2020)
CUDA9.0+, Eigen and yaml.
sudo apt-get install libeigen3-dev libyaml-cpp-dev
Tested on ubuntu 16.04 TLS with:
- cmake 3.5.1
- Eigen 3.3
- yaml 0.5.2
Alghoritm parameters setting in conf/config.yaml file.
Testing dataset contain in modenaDataset/
mkdir build
cd build
cmake ..
make
./WBLCtesting
Nvidia TX2 need a different type of memory, because the pinned is not cached. The problem is descripted here.
You need to uncomment the define COMPILE_FOR_NVIDIA_TX2 collocated at line 12 in cudaNeighbours.h file.