C/C++ library for point cloud & mesh manipulation ?

Hi,

I'm looking for open source or commercial C/C++ libraries with some or all of the following point-cloud/mesh manipulation capabilities:

- resampling point clouds

- registering two point cloud images

- segmenting point clouds or meshes based on bounding coordinates

- creating triangular meshes from point clouds (possibly with varying mesh densities)

Any suggestions are welcome.

Thanks !

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Vin
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