# 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
* https://github.com/neka-nat/cupoch
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