The Point Cloud Library (or PCL) is a large scale, open project for point cloud processing. The PCL framework contains numerous state-of-the art algorithms including filtering, feature estimation, surface reconstruction, registration, model fitting and segmentation.
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Fast Library for Approximate Nearest Neighbors
FLANN is a library for performing fast approximate nearest neighbor searches in high dimensional spaces. It contains a collection of algorithms found to work best for nearest neighbor search and a system for automatically choosing the best algorithm and optimum parameters depending on the data sets.