cupoch 0.2.11.0

['Cupoch: Robotics with GPU computing']

Cupoch

Core features

• 3D data processing and robotics computation using CUDA
  • KNN
    • Optimizing LBVH-Construction and Hierarchy-Traversal to accelerate kNN Queries on Point Clouds using the GPU
  • Point cloud registration
    • ICP
    • Colored Point Cloud Registration
    • Fast Global Registration
    • FilterReg
  • Point cloud features
    • FPFH
    • SHOT
  • Point cloud keypoints
    • ISS
  • Point cloud clustering
    • G-DBSCAN: A GPU Accelerated Algorithm for Density-based Clustering
  • Point cloud/Triangle mesh filtering, down sampling
  • IO
    • Several file types(pcd, ply, stl, obj, urdf)
    • ROS message
  • Create Point Cloud from Laser Scan or RGBD Image
  • Visual Odometry
    • Real-time visual odometry from dense RGB-D images
    • Robust Odometry Estimation for RGB-D Cameras
  • Kinect Fusion
  • Stereo Matching
  • Collision checking
  • Occupancy grid
  • Distance transform
    • Parallel Banding Algorithm to Compute Exact Distance Transform with the GPU
  • Path finding on graph structure
  • Path planning for collision avoidance
• Support memory pool and managed allocators
• Interactive GUI (OpenGL CUDA interop and imgui)
• Interoperability between cupoch 3D data and DLPack(Pytorch, Cupy,...) data structure

Supported platforms

• Ubuntu 18.04
• Windows 10

With Python version: * 3.6 * 3.7 * 3.8 * 3.9

and CUDA version: * 10.1 * 10.2 (Ubuntu) * 11.0 (Windows)

Resources

• https://github.com/neka-nat/cupoch