OpenVDB is a really cool tool and a nice C++ codebase. During my PhD I adapted it to manage volumetric data extracted from LiDAR measurements and found it to be

OpenVDB is a really cool tool and a nice C++ codebase. During my PhD I adapted it to manage volumetric data extracted from LiDAR measurements and found it to be much more efficient than more popular alternatives in the robotics world, such as Octomap (which is also a great tool in its own right!).