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LiDAR processing ROS2. Segmentation algorithm: "Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process". Clustering algorithm: "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance".
A C++ header only library for fast nearest neighbor and range searches using a KdTree. It supports interfacing with Eigen, OpenCV, and custom data types and provides optional Python bindings.