Fast, hierarchical, sparse Voxel Grid

💻 C++ Functional Terminal User Interface. ❤️

DBScan algorithm using Octrees to cluster 3D points in a space with PCL Library

Open3D analog to perception_pcl, containing conversion functions from Open3D to/from ROS types

[ICRA'23] Official code repo for "Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation"

A lean C++ library for working with point cloud data

Multi-threaded generic RANSAC implemetation

Template-based implementation of RANSAC and its variants in C++

A high performance implementation of HDBSCAN clustering.

This repo is a set of nodes for ROS to filter point clouds with the goal of removing snow in Lidar data.