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CuVoxelization

CuVoxelization is an CUDA implementation of voxelization. The given points is a two-dimension torch.Tensor # [num_points, 3], and the output voxels is a three-dimension torch.Tensor # [num_voxels, max_points, 3].

Requirements

The enviroment of my developer machine:

  • Python 3.8.8+
  • PyTorch 1.10.2
  • CUDA 11.1

Installation

python setup.py install

Or use:

pip install .

Or use:

pip install https://github.com/lzhnb/CuVoxelization

TODO

  • Examples (More Example)
  • Optimize the code
  • More elegant Python Wrapper
  • Support backward
  • Visualization

Example

Put the points.npy file under examples directory, then run

python verify.py