PCL - Point Cloud Library

point_cloud_exampleThe Point Cloud Library (or PCL) is a large scale, open project for point cloud processing. The PCL framework contains numerous state-of-the art algorithms including filtering, feature estimation, surface reconstruction, registration, model fitting and segmentation. These algorithms can be used, for example, to filter outliers from noisy data, stitch 3D point clouds together, segment relevant parts of a scene, extract keypoints and compute descriptors to recognize objects in the world based on their geometric appearance, and create surfaces from point clouds and visualize them -- to name a few.

PCL is released under the terms of the BSD license and is open source software. It is free for commercial and research use. PCL is cross-platform, and has been successfully compiled and deployed on Linux, MacOS, Windows, and Android. To simplify development, PCL is split into a series of smaller code libraries, that can be compiled separately. This modularity is important for distributing PCL on platforms with reduced computational or size constraints. For more information see the documentation page.

website: pointclouds.org


The project is currently supported by engineers and scientists from a number of organizations, geographically distributed all around the world, including:

National Institute of Advanced Industrial Science and Technology (AIST), Japan University of California Berkeley, USA University of Bonn, Germany University of British Columbia, Canada Swiss Federal Institute of Technology (ETH) Zurich, Switzerland University of Freiburg, Germany Intel Research Seattle, USA Italian National Research Council (ICAR-CNR), Italy ITSeez, Russia Laboratory for Analysis and Architecture of Systems (LAAS/CNRS), France Massachusetts Institute of Technology (MIT), USA Middle East Technical University, Turkey NVidia, USA University of Osnabrück, Germany Stanford University, USA University of Tokyo, Japan Technische Universität München (TUM), Germany Vienna University of Technology, Austria Willow Garage, USA Washington University in St. Louis, USA