点云BEV预处理的cuda代码实现

点云bev代码实现

在做点云项目中，会用到常见的BEV方式，在部署中需要用c++去实现，下面对于点云bev预处理的cuda实现，贴出了详细代码。对于点云体素化同样可以参照这个方式去实现。
耗时：约在0.01ms。

主要是分为五个文件：

• 预处理头文件
• 参数头文件
• cuda核函数头文件
• cuda核函数实现
• cpp函数实现

#ifndef PREPROCESS_H_
#define PREPROCESS_H_

#include "kernel.h"

class PreProcessCuda
{
   
private:
    Params params_;
    cudaStream_t stream_ = 0;
    unsigned int *mask_;

public:
    PreProcessCuda();
    ~PreProcessCuda();

    void generateBevProjection(float *points, size_t points_size, float *bevimage);
};

#endif

#ifndef _PARAMS_H_
#define _PARAMS_H_

class Params
{
   

public:
    static const int num_classes = 6;
    const float min_x_range = 0.0;
    const float max_x_range = 46.08;
    const float min_y_range = -11.52;
    const float max_y_range = 11.52;
    const float min_z_range = -3.0;
    const float max_z_range = 1.1;
    // the size of a voxel
    const float voxel_x_size = 0.04;
    const float voxel_y_size = 0.02;
    // the input size of the 2D backbone network
    const int grid_x_size = (max_x_range - min_x_range) / voxel_x_size;
    const int grid_y_size = (max_y_range - min_y_range) / voxel_y_size;
    // the output size of thr backbone network
    const int feature_x_size = grid_x_size / 8;
    const int feature_y_size = grid_y_size / 8;
    const float z_value_min = -2.0;
    const float z_value_max = 1.5;
    const int i_value_min = 0;
    const int i_value_max = 128;
    const int r_value_min = 0;
    const int r_value_max= 32768;
    Params(/* args */) {
   };
};


#endif

#ifndef _KERNEL_H_