Many other python libraries tried to bind PCL. The most popular one being python-pcl, which uses Cython. While Cython is really powerful, binding C++ templates isn't one of its strenghts (and PCL uses ...

small_gicp is a header-only C++ library providing efficient and parallelized algorithms for fine point cloud registration (ICP, Point-to-Plane ICP, GICP, VGICP, etc.). It is a refined and optimized ...