  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.
