Open-source alternatives to Keijiro Pcx

CloudCompare is a professional software application for processing and analyzing 3D point clouds and polygonal meshes. It functions as a 3D mesh analysis tool and a large dataset visualizer designed to display and manage millions of points in a 3D environment. The software provides specialized capabilities for point cloud comparison, utilizing an optimized octree structure to calculate spatial differences between two 3D datasets. This allows for the identification of variations and errors between point clouds or between a point cloud and a mesh. The system covers broad 3D data analysis areas

Potree is a web-based point cloud rendering engine and viewer designed for the visualization and analysis of massive 3D spatial datasets and LIDAR scans. It functions as a geospatial analysis tool that enables the interactive exploration of high-density point clouds directly within a web browser using WebGL. The system utilizes eye-dome lighting to enhance depth perception of 3D structures and supports virtual reality for immersive spatial exploration. It provides specialized capabilities for 3D scene documentation through hierarchical annotations and the creation of animated camera fly-throu

FAST_LIO is a real-time SLAM system and LiDAR-inertial odometry package designed for simultaneous localization and mapping. It functions as a state estimation engine and 3D mapping tool that fuses LiDAR point clouds with inertial measurement unit data to provide robust robot state estimation. The system utilizes a tightly-coupled sensor fusion approach with an iterative Kalman filter to estimate position and orientation. It distinguishes itself through direct point-to-plane matching, which calculates odometry by matching raw lidar points to the map surface without manual geometric feature ext

CGAL is a software library that provides a comprehensive collection of computational geometry algorithms and data structures. It is built around a geometry kernel that defines fundamental geometric primitives and operations, enabling the construction of complex geometric objects and the computation of geometric predicates with exact arithmetic for reliable results. The library covers a wide range of geometric computation capabilities, including the construction of convex hulls, triangulations of point sets, and the generation of Voronoi diagrams. It also supports the processing of polygonal m

The Intel RealSense SDK is a software development kit providing drivers and libraries for interfacing with depth cameras to capture color, depth, and infrared data streams. It includes a depth camera driver for device discovery and sensor configuration, a stereo vision library for computing depth maps and aligning frames, and a 3D point cloud generator to transform depth and infrared frames into spatial representations. The SDK distinguishes itself through on-chip depth calculation and stereo calibration, using internal vision processors to reduce host CPU load. It supports hardware-level str

The Point Cloud Library is a collection of C++ algorithms designed for filtering, registering, and analyzing large-scale 3D spatial datasets. It provides a framework for 3D point cloud processing, incorporating tools for spatial data filtering and geometric feature estimation. The library includes specialized systems for aligning multiple spatial datasets into a single unified coordinate system and a rendering engine for the visual inspection and analysis of processed point cloud data. It also features tools for calculating spatial descriptors to identify structural patterns and shapes within

LIO-SAM is a lidar inertial SLAM framework and tightly-coupled sensor fusion pipeline. It functions as a factor graph optimization engine that combines lidar scans and inertial measurement unit data to build 3D point cloud maps and estimate robot trajectories. The system integrates global position factors to align local coordinates with real-world data. It employs loop closure detection to identify previously visited locations, creating constraints in the optimization graph to correct accumulated global drift. The framework covers lidar inertial odometry, point cloud processing, and trajecto

Point-e is a system for 3D model synthesis that generates three-dimensional point clouds from natural language descriptions and two-dimensional images. It utilizes diffusion models to synthesize these spatial representations based on text prompts or source images. The project includes specialized tools for refining these outputs, such as a point cloud upsampler to increase the density and resolution of low-resolution models. It also provides a mesh converter that uses distance function regression to transform raw point cloud data into structured 3D meshes. The broader capability surface cove

mmcv is a foundation library for computer vision based on PyTorch. It provides a comprehensive system for constructing convolutional neural networks, a toolkit for image and video preprocessing, and a collection of high-performance deep learning vision operators. The project is distinguished by its hardware-accelerated kernels for complex operations such as deformable convolutions and region pooling. It features a configuration-driven framework that allows for the dynamic instantiation of network layers and the registration of custom modules without modifying code. The library covers a broad

A Python package for delineating nested surface depressions from digital elevation data.

Polygonal Surface Reconstruction from Point Clouds (C++ & Python)

CloudPeek is a lightweight, c++ single-header, cross-platform point cloud viewer, designed for simplicity and efficiency without relying on heavy external libraries like PCL or Open3D. It provides an intuitive way to visualize and interact with 3D point cloud data across multiple platforms.…

Robotics visualization and debugging

Deep Hough Voting for 3D Object Detection in Point Clouds

Detect 6-DOF grasp poses in point clouds

LiDAR point cloud ground filtering / segmentation (bare earth extraction) method based on cloth simulation

ICRA2021 A low-cost SLAM system based on camera and Livox lidar.

Extends LasIO with Laszip integration

Remove then revert (IROS 2020)

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

efficient tools for LiDAR processing

Open3D is a 3D data processing library, visualization engine, and machine learning library. It provides a framework for manipulating point clouds and meshes through specialized algorithms designed for 3D data science workflows. The project includes a toolkit for 3D scene reconstruction to generate spatial models and align surfaces from raw data. It also functions as a GPU accelerated framework that offloads intensive spatial computations to the graphics processor to increase processing speed. The library covers a broad range of capabilities including physically based light simulations for vi

Lichtblick is an integrated visualization and diagnosis tool for robotics, available in your browser or as a desktop app on Linux, Windows, and macOS.

A tool to turn pointcloud data from aerial lidar scans into solid meshes for 3D printing. You can find examples of meshes made with this software on Thingiverse.

Pure Julia reader of lasindex .lax files