Voxel Tools Library¶

TUM Autonomous Motorsport package for voxelization tools

Header-only helpers shared by the map handler and preprocessing handler for mapping points to voxels and reducing point density. Each function has a CPU and a CUDA implementation.

Functionalities¶

1. Voxel Downsampling (voxel_downsample)
   • keeps one representative point per voxel of a given size, based on KISS-ICP
2. Double Voxel Downsampling (voxel_doubledownsample)
   • downsamples twice with different voxel sizes (a fine pass at 0.5 x followed by a coarse pass at 1.5 x), yielding a more uniform spatial distribution than a single pass
3. Voxel Utilities
   • point_to_voxel (point → voxel index) and get_adjacent_voxels (neighbor voxel indices), used by the map handler for insertion and neighbor search