3DTK - The 3D Toolkit
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The 3D Toolkit provides algorithms and methods to process 3D point clouds. In includes automatic precise registration (6D simultaneous localization and mapping, 6D SLAM) and other tools, e.g., a fast 3D viewer, plane extraction software, etc.
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I am afraid to say that i can not use it in my Windows32 operation system.Don't know how to make it work.