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.
This package contains tools for point cloud file processing and viewers for point cloud files and live Kinect data.