Cilantro

Overview

Cilantro is an innovative C++ library designed specifically for efficient point cloud data processing, particularly in three-dimensional applications. By focusing on performance and usability, it provides developers with a range of tools to manipulate and analyze point clouds with minimal boilerplate code. Its extensive templating allows for operations on various data types and dimensions, making it a versatile choice for different projects.

This library not only includes essential functionality for handling point clouds but also offers an easily navigable API. With numerous built-in utilities and features for data processing, clustering, and geometric registration, Cilantro stands out as a robust solution for researchers and developers working with this intricate data structure.

Features

• Efficient Point Cloud Operations: Cilantro provides high-performance implementations for a variety of common operations, ensuring smooth processing of point cloud data.
• General Dimension Support: The library supports arbitrary numerical types and dimensionality, making it adaptable for diverse applications.
• Robust Estimation Services: It offers capabilities for surface normal and curvature estimation, enhancing the analysis of raw point clouds.
• Advanced Clustering Techniques: Cilantro includes support for k-means, mean-shift clustering, and spectral clustering, accommodating a range of distance metrics.
• Dynamic Geometric Registration: Multiple Iterative Closest Point implementations allow for both rigid and non-rigid alignment of point sets, catering to intricate alignment needs.
• Comprehensive Input/Output Utilities: Users can easily handle 3D point clouds in PLY format and convert RGBD image pairs into point clouds with straightforward utility functions.
• Visualization Tools: A powerful 3D visualizer is included, making it easier to render and explore point cloud data interactively.
• Extensible Design: The modular architecture of Cilantro allows for easy customization and addition of advanced features, providing flexibility for various projects.