cilantro: A Lean, Versatile, and Efficient Library for Point Cloud Data Processing
This library addresses the need for efficient and flexible point cloud processing tools for researchers and developers in fields like robotics, computer vision, and 3D modeling, though it is incremental as it builds on existing concepts.
The authors introduced cilantro, an open-source C++ library for point cloud data processing, offering a wide range of functionalities from low-level operations to visualization tools, designed to be lean, versatile, and efficient for rapid development in various contexts.
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.