Point Cloud Library











































Point Cloud Library
Pcl (PointClouds library) logo with text.png
Original author(s) Willow Garage
Initial release March 2010; 8 years ago (2010-03)[1][2]
Stable release
1.9.1
/ November 26, 2018; 25 days ago (2018-11-26)[3]

Repository
  • github.com/PointCloudLibrary/pcl
Edit this at Wikidata
Operating system Cross-platform
Type Library
License BSD license
Website pointclouds.org

The Point Cloud Library (PCL) is an open-source library of algorithms for point cloud processing tasks and 3D geometry processing, such as occur in three-dimensional computer vision. The library contains algorithms for feature estimation, surface reconstruction, 3D registration[4], model fitting, and segmentation. It is written in C++ and released under the BSD license.


These algorithms have been used, for example, for perception in robotics 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.[5][not in citation given]




Contents






  • 1 PCD File Format


  • 2 History


  • 3 Modules


  • 4 References


  • 5 External links





PCD File Format


To be able to store various data formats, the pcd file format was created. It allows to use data types with dynamic field and
data descriptors to be stored in binary or ascii form.[6]





History


The development of the Point Cloud Library started in March 2010 at Willow Garage. The project initially resided on a sub domain of Willow Garage then moved to a new website www.pointclouds.org in March 2011.[1] PCL's first official release (Version 1.0) was released two months later in May 2011.[2]



Modules


PCL is split into a number of modular libraries.[7]



References





  1. ^ ab B. Rusu, Radu (28 March 2011). "PointClouds.org: A new home for Point Cloud Library (PCL)". Willow Garage. Retrieved 26 November 2012..mw-parser-output cite.citation{font-style:inherit}.mw-parser-output q{quotes:"""""""'""'"}.mw-parser-output code.cs1-code{color:inherit;background:inherit;border:inherit;padding:inherit}.mw-parser-output .cs1-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/thumb/6/65/Lock-green.svg/9px-Lock-green.svg.png")no-repeat;background-position:right .1em center}.mw-parser-output .cs1-lock-limited a,.mw-parser-output .cs1-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/thumb/d/d6/Lock-gray-alt-2.svg/9px-Lock-gray-alt-2.svg.png")no-repeat;background-position:right .1em center}.mw-parser-output .cs1-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/thumb/a/aa/Lock-red-alt-2.svg/9px-Lock-red-alt-2.svg.png")no-repeat;background-position:right .1em center}.mw-parser-output .cs1-subscription,.mw-parser-output .cs1-registration{color:#555}.mw-parser-output .cs1-subscription span,.mw-parser-output .cs1-registration span{border-bottom:1px dotted;cursor:help}.mw-parser-output .cs1-hidden-error{display:none;font-size:100%}.mw-parser-output .cs1-visible-error{font-size:100%}.mw-parser-output .cs1-subscription,.mw-parser-output .cs1-registration,.mw-parser-output .cs1-format{font-size:95%}.mw-parser-output .cs1-kern-left,.mw-parser-output .cs1-kern-wl-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right,.mw-parser-output .cs1-kern-wl-right{padding-right:0.2em}


  2. ^ ab "PCL 1.0!". PCL. 12 May 2011. Retrieved 24 May 2013.


  3. ^ https://github.com/PointCloudLibrary/pcl/releases


  4. ^ Holz, Dirk; Ichim, Alexandru E.; Tombari, Federico; Rusu, Radu B.; Behnke, Sven (2015). "Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D". IEEE Robotics Automation Magazine. 22 (4): 110–124. doi:10.1109/MRA.2015.2432331.


  5. ^ Robot Operating System: http://www.ros.org/wiki


  6. ^ http://pointclouds.org/documentation/tutorials/pcd_file_format.php


  7. ^ PCL documentation and tutorials: http://pointclouds.org/documentation/




External links



  • Open Perception Inc

  • Point Cloud Library (PCL) Users

  • Point Cloud Library (PCL) Developers









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