Filters

Some of these outliers can be filtered by performing a statistical analysis on each point’s neighborhood.

Keypoints

The keypoints library contains implementations of two point cloud keypoint detection algorithms.

Registration

Combining several datasets into a global consistent model is usually performed using a technique called registration.

Kdtree

A Kd-tree (k-dimensional tree) is a space-partitioning data structure that enables efficient range searches and nearest neighbor searches.

Octree

The octree library provides efficient methods for creating a hierarchical tree data structure from point cloud data.