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...It was originally designed to perform comparison between two 3D points clouds (such as the ones obtained with a laser scanner) or between a point cloud and a triangular mesh. It relies on an octree structure that is highly optimized for this particular use-case. It was also meant to deal with huge point clouds (typically more than 10 million points, and up to 120 million with 2 GB of memory).
2D, 3D object indexes (Quadtree, Octree, Quadtree with object radius indexation), fast geometry find functions, template classes with embedded 2D, 3D indexation and fast search features.