PointCloudLibrary / PointCloudLibrary/pcl
VoxelGrid on GPU
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- Dominant language
- C++
- Stars
- 11.1k
- Forks
- 4.7k
- Avg merge
- 4d 10h
- Merged PRs (30d)
- 6
Description
It would be nice to have a voxel grid filter that runs on the GPU, and is thus faster than the existing pcl::VoxelGrid (which runs on the CPU).
The new GPU voxel grid should have the same filtering behaviour as pcl::VoxelGrid, but does not have to implement filter_field_name_ or save_leaf_layout_ for now.
It could maybe make use of pcl::gpu::Octree, or stay closer to the implementation of pcl::VoxelGrid and use the sorting functions from thrust.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reading the existing pcl::VoxelGrid behavior and the pcl::gpu::Octree entry point mentioned in the issue, then compare whether an octree-based or sorting-based approach fits. Done means a GPU voxel grid matches pcl::VoxelGrid filtering behavior while leaving filter_field_name_ and save_leaf_layout_ unsupported.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100