GPU-Voxels is a CUDA based library which allows high resolution volumetric collision detection between animated 3D models and live pointclouds from 3D sensors of all kinds. It is mainly developed for robotics planning and monitoring tasks. See our videos on http://www.gpu-voxels.org/demos/ to get an impression.
If you have questions or experience any problems with the software, please post to our GitHub Bugtracker: at https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/issues
This software is tested under 64 Bit Ubuntu Linux 14.04 and 16.04. Find detailed installation and linking instructions in our Doxygen.
- CUDA 7.5, 8.0 and 9.1
- TinyXML (libtinyxml-dev)
- GLEW (libglew, libglew-dev)
- GLM (libglm-dev). Probably you will have to patch one file: See https://github.com/g-truc/glm/issues/530
- GLUT (freeglut3, freeglut3-dev)
- ROS (Robot Operation System)
- OpenNI to interface 3D cameras
mkdir build cd build cmake .. make
==> This will also generate example programs and a visualization tool to see some live demos.
Doxygen files can be generated by
C++11 is not enabled by default. To compile in C++11 mode add this to the top of packages/gpu_voxels/CMakeLists.txt: SET(CMAKE_CXX_STANDARD 11)
There is a known bug in GLM on Ubuntu 16.04 that has to be patched to allow usage of the visualizer. Apply the patch described at https://github.com/g-truc/glm/issues/530 to /usr/include/glm/detail/func_common.inl
The library is developed and maintained by:
- Andreas Hermann
Contributors are (in temporal order):
- Sebastian Klemm
- Florian Drews
- Matthias Wagner
- Felix Mauch
- Christian Jülg
- Herbert Pietrzyk
- Gabriele Bolano
The software in this repository underlies different licenses. Please consider the LICENSE.txt in the different package directories. Feel free to contact us for any licensing questions.
To clarify this:
- The Build System (icmaker and according scripts) is distributed under BSD license
- GPU-Voxels is distributed under the CDDL license
- icl_core helber library is distributed under CDDL license
Please let us know if you are using the GPU-Voxels library, as we are curious to find out how it enables other people's work or research.
We would be grateful if scientific publications resulting from projects that make use of GPU-Voxels would cite our overview paper: A. Hermann, F. Drews, J. Bauer, S. Klemm, A. Roennau and R. Dillmann: “Unified GPU Voxel Collision Detection for Mobile Manipulation Planning” in Intelligent Robots and Systems (IROS 2014, Chicago, September 2014)
Copyright (c) 2014, FZI Forschungszentrum Informatik, Karlsruhe, Germany All rights reserved.
The GPU-Voxels library was developed at the FZI Forschungszentrum Informatik, Karlsruhe, Germany.
The research leading to the results has received funding from...
- the German Federal Ministry of Education and Research (BMBF) under grant agreement no. 01IM12006C (ISABEL).
- the European Union program Horizon 2020 under grant agreement no. 680734 (HORSE).
- the Baden-Württemberg Stiftung through the KolRob reasearch project.