PointCloudLibrary/pcl

VoxelGrid on GPU

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#5,882 opened on Nov 22, 2023

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 (4 comments) (0 reactions) (0 assignees)C++ (4,506 forks)batch import
help wantedkind: requestmodule: cudamodule: filtersmodule: gpuskill: cuda

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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

Research direction
Study the existing pcl::VoxelGrid implementation to understand its algorithm. Then explore how to leverage thrust for sorting and binning on GPU. Consider using pcl::gpu::Octree as a base if appropriate.
Tech stack
cpp
Domain
apiperformance
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50