Voxel Traversal

A small library to compute voxel traversal on the CPU.
The implemented algorithm is J. Amanatides, A. Woo:
“A Fast Voxel Traversal Algorithm”.
It is based on the code prototype of Chris Gyurgyik
Fast-Voxel-Traversal-Algorithm.

The contributions of this repository are:

  • Tests!
  • C++17 compatibility
  • Installation and cmake packaging
  • Use Eigen for readability, vectorization, and grid counting.
  • Execution and timing on real LiDAR data from the nuScenes dataset. The demonstration data files are bundled with git lfs.

Run the tests and install

$ git clone https://github.com/risteon/voxel-traversal.git
$ mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=../install ..
$ cmake --build . --target all
$ cmake --build . --target install
$ ctest

Missing parts

  • More tests
  • Algorithm and structures as templates for single and double precision version.

GitHub

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