semvec/pypi-packages huggingface dataset:
cupoch 0.2.11.0
Cupoch: Robotics with GPU computing
License: MIT
Keywords: robotics point-cloud mesh RGB-D collision visualization

# 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