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+# voxelGenerator Plugin [DEPRECATED]
+
+**This plugin is deprecated since TensorRT 10.12 and will be removed in a future release. No alternatives are planned to be provided.**
+
+**Table Of Contents**
+- [Description](#description)
+    * [Structure](#structure)
+- [Parameters](#parameters)
+- [Additional resources](#additional-resources)
+- [License](#license)
+- [Changelog](#changelog)
+- [Known issues](#known-issues)
+
+## Description
+
+The `voxelGeneratorPlugin` performs the generation of voxels(pillars) from raw points in a point cloud frame. This operation essentially quantize the 3D points in spacial dimensions(x, y, z) with a certain granularity. The output of this plugin will be a group of pillars.
+
+`voxelGeneratorPlugin` implements a quantization of 3D points in point cloud data and produces a groups of voxels. Each voxel is either empty or contains several points that are close to each other.
+
+This plugin is optimized for the above steps and it allows you to do PointPillars inference in TensorRT.
+
+
+### Structure
+
+The `voxelGeneratorPlugin` takes 2 inputs; `points`, and `num_points`.
+
+`points`
+The input raw points from a point cloud. The shape of this tensor is `[N, M, C]`, where `N` is batch size, `M` is the maximum number of points in a point cloud frame, and `C` is the number of channels for each point.
+Since point cloud data is sparse in nature, each frame will generally have different number of valid points(no more than `M`). Zero-padding should be applied properly to construct a dense tensor from a batch of point cloud frames.
+
+
+`num_points`
+The number of valid points in each frame. The valid number of points should be no more than `M`. The shape of this tensor is `[N]`.
+
+
+The `voxelGeneratorPlugin` generates the following 3 outputs:
+
+`voxels`
+The voxels generated by this plugin. The shape of this tensor is `[N, V, P, C']`, where `N` is batch size, `V` is the maximum number of voxels(pillars) per frame, `P` is the maximum number of points per voxel, and `C'` is the number of channels(features) per point in voxels.
+
+
+`voxel_coords`
+The coordinates of each voxel in `voxels`. This coordinates tensor will be used to compute a dense feature map indirectly from the `voxels`(after some reduction operations are applied to `voxels`). The shape of this tensor is `[N, V, 4]`, where `N, V` are as above and 4 is just the length of coordinates encoded as `(frame_id, z, y, x)`.
+
+
+`num_pillar`
+The number of valid voxels(pillars) in `voxels` for each frame. This will be used to generate the dense feature map. The shape of this tensor is `[N]`.
+
+## Parameters
+
+`voxelGeneratorPlugin` has plugin creator class `voxelGeneratorPluginCreator` and plugin class `voxelGeneratorPlugin`.
+
+The parameters are defined below and consists of the following attributes:
+
+| Type     | Parameter                | Description
+|----------|--------------------------|--------------------------------------------------------
+| `int`    | `max_num_points_per_voxel` | Maximum number of points per voxel.
+| `int` | `max_voxels`        | Maximum number of voxels to be generated per frame.
+| `list of floats` | `point_cloud_range` | The range of the point cloud coordinates.
+| `int`    | `voxel_feature_num` | The number of channels of the generated voxels.
+| `list of floats` | `voxel_size` | The size of the voxels.
+
+## Additional resources
+
+The following resources provide a deeper understanding of the `voxelGeneratorPlugin` plugin:
+
+**Networks:**
+-   [PointPillars](https://arxiv.org/pdf/1812.05784)
+
+**Documentation:**
+-   [PointPillars](https://arxiv.org/pdf/1812.05784)
+
+## License
+
+For terms and conditions for use, reproduction, and distribution, see the [TensorRT Software License Agreement](https://docs.nvidia.com/deeplearning/sdk/tensorrt-sla/index.html)
+documentation.
+
+
+## Changelog
+
+May 2025
+Add deprecation note.
+
+Dec 2021
+This is the first release of this `README.md` file.
+
+
+## Known issues
+
+There are no known issues in this plugin.