Robotic Template Library (RTL) is a set of tools for dealing with geometry and point cloud processing, especially in robotic applications. The software package covers basic objects such as vectors, line segments, quaternions, rigid transformations, etc., however, its main contribution lies in the more advanced modules: The segmentation module for batch or stream clustering of point clouds, the fast vectorization module for approximation of continuous point clouds by geometric objects of higher grade and the LaTeX export module enabling automated generation of high-quality visual outputs. It is a header-only library written in C++17, uses the Eigen library as a linear algebra back-end, and is designed with high computational performance in mind. RTL can be used in all robotic tasks such as motion planning, map building, object recognition and many others, but the point cloud processing utilities are general enough to be employed in any field touching object reconstruction and computer vision applications as well.

翻译：机器人模板库(RTL)是一套处理几何和点云处理的工具,特别是在机器人应用中。软件包包括基本对象,如矢量、线段、四面形、硬质变换等。但是,其主要贡献在于较先进的模块:点云的批量或溪流组合分解模块、高等级几何物体近似连续点云的快速矢量化模块以及能够自动生成高质量视觉产出的LaTeX导出模块。软件包是C++17书写的仅有页眉的图书馆,使用Eigen图书馆作为直线代数后端,设计时考虑的计算性能很高。所有机器人任务,如运动规划、地图建设、物体识别和其他许多任务,都可以使用RTL,但点云处理功能很普通,可以用于任何与对象有关的字段和计算机视觉应用。