pcl_custom_functions's Introduction

pcl_custom_functions

Some custom implementations of the Point Cloud Library functions that run faster then the default PCL implementation.

Tested with PCL-1.10 under Ubuntu 20.04.

$ sudo apt install libpcl-dev

To build the code:

$ mkdir -p build ; cd build ; cmake -DCMAKE_BUILD_TYPE=Release ../ ; make -j6

To run the main program:

$ ./main

To run the program with timings:

$ ./timing_main

Results of timing on 3 different platforms:

Jetson Nano run:
(via docker running pcl-1.10)

Passthrough: 25.765 milliseconds
Segmentation: 43.236 milliseconds
Clustering: 1723.8 milliseconds
Pcl total: 1800.63 milliseconds
Clusters: 1
Custom passthrough: 5.643 milliseconds
Custom segmentation: 36.633 milliseconds
Custom clustering: 15.099 milliseconds
Pcl custom total: 67.439 milliseconds
Clusters: 1

PC (AMD Ryzen 7 3700X) run:
Passthrough: 6.889 milliseconds
Segmentation: 10.891 milliseconds
Clustering: 552.858 milliseconds
Pcl total: 574.487 milliseconds
Clusters: 1
Custom passthrough: 1.79 milliseconds
Custom segmentation: 4.201 milliseconds
Custom clustering: 3.999 milliseconds
Pcl custom total: 13.026 milliseconds
Clusters: 1

Laptop (AMD Ryzen 5 4500u) run:
Passthrough: 13.532 milliseconds
Segmentation: 10.579 milliseconds
Clustering: 508.383 milliseconds
Pcl total: 536.666 milliseconds
Clusters: 1
Custom passthrough: 2.168 milliseconds
Custom segmentation: 3.733 milliseconds
Custom clustering: 3.92 milliseconds
Pcl custom total: 13.294 milliseconds
Clusters: 1

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