{"repo":"neka-nat/cupoch","free":true,"listed":false,"github":"https://github.com/neka-nat/cupoch","clone":"git clone https://github.com/neka-nat/cupoch.git","description":"Robotics with GPU computing","language":"C++","stars":1062,"topics":["point-cloud","cuda","pybind11","gpu","registration","python","odometry","jetson","ros","visual-odometry"],"license":"MIT","category":"dev-tools","readme_excerpt":"Robotics with GPU computing Cupoch is a library that implements rapid 3D data processing for robotics using CUDA. The goal of this library is to implement fast 3D data computation in robot systems. For example, it has applications in SLAM, collision avoidance, path planning and tracking. This repository is based on Open3D. Core Features 3D data processing and robotics computation using CUDA KNN [WIP] Optimizing LBVH-Construction and Hierarchy-Traversal to accelerate kNN Queries on Point Clouds using the GPU flann Point cloud registration ICP Generalized ICP Symmetric ICP (Implemented by @eclipse0922) 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 I","default_branch":null,"files":null,"tree":[],"storefront":"/r/neka-nat","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/neka-nat/cupoch/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}