title: Any good C or C++ libraries out there for dealing with large point clouds?
body: <p>Basically, I'm looking for a library or SDK for handling large point clouds coming from LIDAR or scanners, typically running into many millions of points of X,Y,Z,Colour.  What I'm after are as follows;</p>
  
  <p>Fast display, zooming, panning
  Point cloud registration
  Fast low level access to the data
  Regression of surfaces and solids (not as important as the others)</p>
  
  <p>While I don't mind paying for a reasonable commercial library, I'm not interested in a very expensive library (e.g. in excess of about $5k) or one with a per user run-time license cost.  Open source would also be good.  I found a few possibilities via google, but they all tend to be too expensive for my budget.</p>