This is a utility library I slowly built up during my PhD and has become my swiss army knife for processing 3D data. It's super easy to install (only depends on NumPy and SciPy).<p>The goal of the library to have an extremely simple API for geometry processing which uses NumPy arrays as a core data structure (so it can be dropped into whatever numerical codebase you're working with).<p>Most of the library is written in C++ using a custom binding framework (<a href="https://github.com/fwilliams/numpyeigen">https://github.com/fwilliams/numpyeigen</a>) that I wrote which avoids copies when converting NumPy arrays to Eigen Matrix types.<p>Happy to answer any questions you might have about it and I hope Point Cloud Utils is useful to you!