Point Cloud Library

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.

Point Cloud Library
Original author(s)Willow Garage
Initial releaseMarch 2010 (2010-03)[1][2]
Stable release
1.10.0 / January 19, 2020 (2020-01-19)[3]
Repository
Operating systemCross-platform
TypeLibrary
LicenseBSD license
Websitepointclouds.org

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]

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]

gollark: You are in a simulation run by GTech™ to test the effects of a minor change to apiary technology. For accuracy we run it on the entire universe.
gollark: If it's just one square wave at once, FFTize it, find the highest intensity frequency or something, play only that I guess?
gollark: Biology or maths is a weirdly weird choice.
gollark: Maybe you should rotate in bee-dimensional space.
gollark: I don't think you're as "forced" to do things as you claim.

References
  1. B. Rusu, Radu (28 March 2011). "PointClouds.org: A new home for Point Cloud Library (PCL)". Willow Garage. Retrieved 26 November 2012.
  2. "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/
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