Hi, I’m struggling to use pcl::gpu::EuclideanClusterExtraction.
I write code based on pcl::gpu example
pcl::gpu::Octree::PointCloud cloud_device;
cloud_device.upload(pc_in->points);
pcl::gpu::Octree::Ptr octree_device(new pcl::gpu::Octree);
octree_device->setCloud(cloud_device);
octree_device->build();
std::vector<pcl::PointIndices> cluster_indices_gpu;
pcl::gpu::EuclideanClusterExtraction<pcl::PointXYZ> gec;
gec.setClusterTolerance(impl_->tolerance); // 2cm
gec.setMinClusterSize(impl_->min_cluster_size);
gec.setMaxClusterSize(impl_->max_cluster_size);
gec.setSearchMethod(octree_device);
gec.setInput(cloud_device);
gec.setHostCloud(pc_in);
gec.extract(cluster_indices_gpu);
I want to cluster pointcloud from lidar online over 10Hz.
When I run code with 16ch lidar, it works well, but if I run with 64ch, node dies with below error.
[rr_object_detection-1] process has died [pid 69988, exit code -11, cmd /home/jiyou/catkin_ws/devel/lib/rr_perception/rr_object_detection_node ~input:=/ouster/points ~obstacle:=/yolov5/detections ~feedback:=/rr_erp42/feedback_ext ~detection:=/rr_object_detection/detection ~is_estop:=/rr_safety_manager/estop_msg __name:=rr_object_detection __log:=/home/jiyou/.ros/log/e33d96c8-13e5-11ee-947d-dd138a141df5/rr_object_detection-1.log].
log file: /home/jiyou/.ros/log/e33d96c8-13e5-11ee-947d-dd138a141df5/rr_object_detection-1*.log
Does the size of pointcloud matters with using pcl::gpu?
If not, please help me to process online clustering using gpu.