threecrate-gpu 0.7.0

GPU-accelerated algorithms for threecrate using wgpu
Documentation

ThreeCrate GPU

Crates.io Documentation License

GPU-accelerated algorithms for 3D point cloud processing using wgpu.

Features

  • Filtering: GPU statistical outlier removal, radius filtering, voxel grid downsampling
  • Normal Estimation: Parallel GPU-based surface normal computation
  • Nearest Neighbor Search: GPU K-nearest and radius neighbor search
  • ICP Registration: GPU-accelerated Iterative Closest Point
  • TSDF: Truncated Signed Distance Function volume integration and surface extraction
  • Rendering: Real-time point cloud and mesh rendering with PBR material support
  • Cross-platform: Vulkan, Metal, and DirectX 12 via wgpu

Usage

Add this to your Cargo.toml:

[dependencies]
threecrate-gpu = "0.6.0"
threecrate-core = { version = "0.6.0", features = ["gpu"] }

Example

use threecrate_gpu::{GpuContext, PointCloudRenderer, RenderConfig, point_cloud_to_vertices};
use threecrate_core::{PointCloud, Point3f};

// Initialize GPU context
let gpu_context = GpuContext::new().await?;

// GPU-accelerated filtering
let filtered = gpu_voxel_grid_filter(&gpu_context, &cloud, 0.05).await?;

// GPU ICP registration
let result = gpu_icp(&gpu_context, &source, &target).await?;

// TSDF volume integration
let mut volume = create_tsdf_volume(resolution, voxel_size);
gpu_tsdf_integrate(&gpu_context, &mut volume, &depth_image, &intrinsics, &pose).await?;
let mesh = gpu_tsdf_extract_surface(&gpu_context, &volume).await?;

// Real-time rendering
let config = RenderConfig::default();
let renderer = PointCloudRenderer::new(&window, config).await?;
let vertices = point_cloud_to_vertices(&cloud, [1.0, 1.0, 1.0], 4.0);
renderer.render(&vertices)?;

GPU Requirements

  • Vulkan: Preferred backend for best performance
  • Metal: macOS support via Metal API
  • DirectX 12: Windows support via DX12
  • OpenGL: Fallback support for older systems

License

This project is licensed under either of

at your option.