['Cupoch: Robotics with GPU computing']
Project description
Cupoch
Core features
- 3D data processing and robotics computation using CUDA
- Point cloud registration
- Point cloud features
- FPFH
- SHOT
- Point cloud keypoints
- ISS
- Point cloud 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
- Kinect Fusion
- Stereo Matching
- Collision checking
- Occupancy grid
- Distance transform
- 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)
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