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开源软件名称:cupoch开源软件地址:https://gitee.com/zhenshenglee/cupoch开源软件介绍:Robotics with GPU computingCupoch 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
InstallationThis software is tested under 64 Bit Ubuntu Linux 18.04 and CUDA 10.1/10.2.You can install cupoch using pip. pip install cupoch Or install cupoch from source. git clone https://github.com/neka-nat/cupoch.git --recursecd cupochmkdir buildcd buildcmake ..; make install-pip-package -j Installation for Jetson NanoYou can also install cupoch using pip on Jetson Nano.Please set up Jetson using jetpack and install some packages with apt. sudo apt-get install libxinerama-dev libxcursor-dev libglu1-mesa-devpip3 install cupoch Or you can compile it from source.Update your version of cmake if necessary. wget https://github.com/Kitware/CMake/releases/download/v3.16.3/cmake-3.16.3.tar.gztar zxvf cmake-3.16.3.tar.gzcd cmake-3.16.3./bootstrap -- -DCMAKE_USE_OPENSSL=OFFmake && sudo make installcd ..git clone https://github.com/neka-nat/cupoch.git --recursecd cupoch/mkdir buildcd build/export PATH=/usr/local/cuda/bin:$PATHcmake -DBUILD_GLEW=ON -DBUILD_GLFW=ON -DBUILD_PNG=ON -DBUILD_JSONCPP=ON ..sudo make install-pip-package ResultsThe figure shows Cupoch's point cloud algorithms speedup over Open3D.The environment tested on has the following specs:
You can get the result by running the example script in your environment. cd examples/python/basicpython benchmarks.py Visual odometry with intel realsense D435Occupancy grid with intel realsense D435Kinect fusion with intel realsense D435Stereo matchingFast Global RegistrationPoint cloud from laser scanCollision detection for 2 voxel gridsPath findingVisual odometry with ROS + D435This demo works in the following environment.
# Launch roscore and rviz in the other terminals.cd examples/python/rospython realsense_rgbd_odometry_node.py Visualization
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