Particle Filter

To Run

1. cmake . && make
2. Run either particle_filer_gpu or particle_filter_cpu

   1. ./particle_filter_gpu <optional:number_iteration(default:1000)> <optional:number_particles (default:10)> <number of threads per block (default:64)>
      
      

   2. ./particle_filter_cpu <optional:number_iteration(default:1000)> <optional:number_particles (default:10)>
      
      

Generate image for each loop

Make sure you have OpenCV installed. See here for install guide.

1. Compile with cmake . -D IMAGES=1 && make
2. Run the program. (Max of 70k particles)
3. The images will be in images/.
4. To generate a gif, run convert -delay 50 -loop 0 images/*.png myimage.gif.
   1. If you do not have imagemagick, run sudo apt-get install imagemagick
5. Make sure to clear the images/ folder if you are running it another time

Notes

• The sequential implementation needs to end with .cu in order to let the CUDA compiler link the robot.cuh library. It is done this way to reduce duplicated code. No GPU kernels are used.