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cilantro
is a lean and fast C++ library for working with point cloud data, with emphasis given to the 3D case.
It includes efficient implementations for a variety of common operations, providing a clean API and attempting to minimize the amount of boilerplate code.
The library is extensively templated, enabling operations on data of arbitrary numerical type and dimensionality (where applicable) and featuring a modular/extensible design of the more complex procedures.
At the same time, convenience aliases/wrappers for the most common cases are provided.
A high-level description of cilantro
can be found in our technical report.
cilantro
is developed and tested on Ubuntu variants (16.04 and newer) using CMake.
To clone and build the library (with bundled examples), execute the following in a terminal:
git clone https://github.com/kzampog/cilantro.git
cd cilantro
mkdir build
cd build
cmake ..
make -j
Documentation (readthedocs.io, Doxygen API reference) is a work in progress.
The short provided examples (built by default) cover a significant part of the library's functionality.
Most of them expect a single command-line argument (path to a point cloud file in PLY format).
One such input is bundled in examples/test_clouds
for quick testing.
The library is released under the MIT license.
If you use cilantro
in your research, please cite our technical report:
@inproceedings{zampogiannis2018cilantro,
author = {Zampogiannis, Konstantinos and Fermuller, Cornelia and Aloimonos, Yiannis},
title = {cilantro: A Lean, Versatile, and Efficient Library for Point Cloud Data Processing},
booktitle = {Proceedings of the 26th ACM International Conference on Multimedia},
series = {MM '18},
year = {2018},
isbn = {978-1-4503-5665-7},
location = {Seoul, Republic of Korea},
pages = {1364--1367},
doi = {10.1145/3240508.3243655},
publisher = {ACM},
address = {New York, NY, USA}
}
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