Efficient operations for fusing semantically annotated RGB-D measurements in a 3D voxel grid in pytorch.
Project description
grid_fusion_pytorch
Efficient operations for fusing depth maps or point clouds with or without semantic annotation in a 3D voxel grid in pytorch. Corresponding backward passes are WIP. Uses TORCH.UTILS.CPP_EXTENSION following the structure of DirectVoxGO.
Setup
pip install grid-fusion-pytorch
Requirements
PyTorch must be installed with CUDA support. Also, Ninja is required to load C++ extensions. Install it with pip.
pip install ninja
Usage
Check out the colab demo.
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