cilantro: A Lean, Versatile, and Efficient Library for Point Cloud Data Processing

Abstract

We introduce cilantro, an open-source C++ library for geometric and general-purpose point cloud data processing. The library provides functionality that covers low-level point cloud operations, spatial reasoning, various methods for point cloud segmentation and generic data clustering, flexible algorithms for robust or local geometric alignment, model fitting, as well as powerful visualization tools. To accommodate all kinds of workflows, cilantro is almost fully templated, and most of its generic algorithms operate in arbitrary data dimension. At the same time, the library is easy to use and highly expressive, promoting a clean and concise coding style. cilantro is highly optimized, has a minimal set of external dependencies, and supports rapid development of performant point cloud processing software in a wide variety of contexts.

References in corpus (2)

• Open3D: A Modern Library for 3D Data Processing
• BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration

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