cupcl

Rust bindings for CUDA point cloud processing with NVIDIA cuPCL.

** This is a work in progress. **

• Voxel Downsample (libcudafilter.so) - See #39
• Passthrough (own implementation)
• Clustering (libcudacluster.so)
• ICP
• NDT
• Octree
• Segmentation

Setup

Install cuPCL from NVIDIA for your architecture.

git clone -b x86_64_lib|jp4.x|jp5.x https://github.com/NVIDIA-AI-IOT/cuPCL
sudo find cuPCL -name '*.so' -exec cp {} /usr/local/lib \;
sudo ldconfig

Check if the everything works before using it in your project.

cargo test # cpu
cargo test --no-default-features --features cuda

Use the cuda feature for acceleration:

[dependencies]
cupcl = { git = "https://github.com/stelzo/cupcl-rs", branch = "main", default-features = false, features = "cuda" }