/GPU-Collision-Detection

Class project for COMP-781, Robotics. This is a CUDA-based collision detector for motion planning.

Primary LanguagePython

GPU-Collision-Detection

Final project for COMP-781, Robotics, Spring 2019 at UNC Chapel Hill This is a CUDA-based collision detector for motion planning.

Dependencies

CUDA

You'll need a CUDA-enabled NVidia GPU in order to use this package. To check if your GPU supports CUDA, consult https://developer.nvidia.com/cuda-gpus You'll also need CUDA version 10.0 or above https://developer.nvidia.com/cuda-downloads Note: This can be incredibly difficult to install, it took the authors of this framework a good 6 hours each

Python Depenpencies

You'll need Python-3.7 for any of these The python dependencies are

  • PyCUDA
  • NumPy
  • TkInter
  • Open3D

Running

From the command line simply run

python uiGenerator.py

This will pop up the GUI which allows you to play around with the collision detector. To use the collision detector elsewhere, you'll need to include

import Shapes
import RectangleCollision
import BoxCollision
import CircleCollision
import SphereCollision

in your python code.