['Cupoch: Robotics with GPU computing']
Project description
# 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](https://epub.uni-bayreuth.de/5288/1/cgf.14177.pdf)
- Point cloud registration
ICP
[Colored Point Cloud Registration](https://ieeexplore.ieee.org/document/8237287)
[Fast Global Registration](http://vladlen.info/papers/fast-global-registration.pdf)
[FilterReg](https://arxiv.org/abs/1811.10136)
- Point cloud features
FPFH
SHOT
- Point cloud keypoints
ISS
- Point cloud clustering
[G-DBSCAN: A GPU Accelerated Algorithm for Density-based Clustering](https://www.sciencedirect.com/science/article/pii/S1877050913003438)
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](https://ieeexplore.ieee.org/document/6130321)
[Robust Odometry Estimation for RGB-D Cameras](https://ieeexplore.ieee.org/document/6631104)
Kinect Fusion
Stereo Matching
Collision checking
Occupancy grid
- Distance transform
[Parallel Banding Algorithm to Compute Exact Distance Transform with the GPU](https://www.comp.nus.edu.sg/~tants/pba.html)
Path finding on graph structure
Path planning for collision avoidance
Support memory pool and managed allocators
Interactive GUI (OpenGL CUDA interop and [imgui](https://github.com/ocornut/imgui))
Interoperability between cupoch 3D data and [DLPack](https://github.com/dmlc/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
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