Open3D vs PCL. Has anyone benchmarked them?

I have been following the astonishing progress of Open3D.

As a potential alternative to PCL, I wonder if anybody spent time to do a side by side comparison of the most common operation, such as downsampling, outlier removal, ICP, etc.

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There was a paper I came across on arxiv called “cilantro: A Lean, Versatile, and Efficient Library for Point CloudData Processing” which takes a few performance comparisons between cilantro, open3d, and PCL. Not exhaustive, but I haven’t seen a full comparison.

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