cilantro: A Lean, Versatile, and Efficient Library for Point Cloud Data Processing
cilantro: A Lean, Versatile, and Efficient Library for Point Cloud Data Processing
复制标题
cilantro：一个精益、多功能、高效的点云数据处理库
DOI：
10.1145/3240508.3243655
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Y. Aloimonos
中科院分区：
文献类型：
--
作者：
Konstantinos Zampogiannis;C. Fermüller;Y. Aloimonos
我们介绍Cilantro，一个开源的C++库的几何和通用点云数据处理。该库提供的功能涵盖低级别点云操作、空间推理、点云分割和通用数据聚类的各种方法、用于鲁棒或局部几何对齐的灵活算法、模型拟合以及强大的可视化工具。为了适应各种工作流，Cilantro几乎完全是模板化的，它的大多数泛型算法都在任意数据维度上运行。同时，该库易于使用，表达能力强，促进了干净简洁的编码风格。Cilantro高度优化，具有最小的外部依赖性，并支持在各种环境中快速开发高性能点云处理软件。
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.