feat(autoware_cuda_pointcloud_preprocessor): a cuda-accelerated pointcloud preprocessor (#9454)

* feat: moved the cuda pointcloud preprocessor and organized from a personal repository

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: fixed incorrect links

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: fixed dead links pt2

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: fixed spelling errors

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: json schema fixes

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: removed comments and filled the fields

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* fix: fixed the adapter for the case when the number of points in the pointcloud changes after the first iteration

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat: used the cuda host allocators for aster host to device copies

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md

Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com>

* Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu

Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com>

* Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu

Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com>

* style(pre-commit): autofix

* Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md

Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com>

* Update sensing/autoware_cuda_pointcloud_preprocessor/README.md

Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com>

* Update sensing/autoware_cuda_pointcloud_preprocessor/README.md

Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com>

* Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu

Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com>

* style(pre-commit): autofix

* Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu

Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com>

* style(pre-commit): autofix

* Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu

Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com>

* style(pre-commit): autofix

* chore: fixed code compilation to reflect Hirabayashi-san's  memory pool proposal

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat: generalized the number of crop boxes. For two at least, the new approach is actually faster

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: updated config, schema, and handled the null case in a specialized way

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat: moving the pointcloud organization into gpu

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat: reimplemented the organized pointcloud adapter in cuda. the only bottleneck is the H->D copy

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: removed redundant ternay operator

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added a temporary memory check. the check will be unified in a later PR

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: refactored the structure to avoid large files

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: updated the copyright year

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* fix: fixed a bug in the undistortion kernel setup. validated it comparing it with the baseline

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: removed unused packages

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: removed mentions of the removed adapter

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: fixed missing autoware prefix

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* fix: missing assignment in else branch

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added cuda/nvcc debug flags on debug builds

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: refactored parameters for the undistortion settings

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: removed unused headers

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: changed default crop box to no filtering at all

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat: added missing restrict keyword

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: spells

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: removed default destructor

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: ocd activated (spelling)

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: fixed the schema

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: improved readibility

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added dummy crop box

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added new repositories to ansible

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: CI/CD

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: more CI/CD

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: mode CI/CD. some linters are conflicting

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* style(pre-commit): autofix

* chore: ignoring uncrustify

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: ignoring more uncrustify

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: missed one more uncrustify exception

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* chore: added meta dep

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com>
Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>

Author: 5 people