How to convert pointcloud to octree

[wing0716]

Hi, thank you very much for your research work, I noticed that you use the octree data structure to identify the environment map, but how to convert pointcloud to octree? I don't know which function to use and related API

[cjue]

The octree functionality of gpu-voxels has severe issues on newer CUDA hardware, therefore I would advise against using them at the moment.

Examples for the usage of octrees can be found here:

• https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/blob/master/packages/gpu_voxels/src/examples/Sandbox.cpp
• https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/blob/master/packages/gpu_voxels/src/examples/SweptVolumeVsEnvironment.cpp

[wing0716]

Thank you for your quick reply, I'm using RTX 3060 and CUDA 11.2 platform now and do have some issues when I run the sandbox, robot_vs_environment and swept_volume_vs_environment examples. Now I have 2 questions on newer CUDA hardware. First, which data structure should I use for the environment map pointcloud in collision detection, is it voxellists or voxelmap? Second, which data structure should I use for dynamic obstacle such as people? Thank you very much!

[cjue]

If you just want to detect collision between single point clouds and a dynamic object like a robot the fastest solution is usually using VoxelLists for both.

[wing0716]

Thank you very much!