Point Cloud Library

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Point Cloud Library

Point Cloud Library logo
Basic data

developer Willow Garage (2010–2012), Open Perception Foundation (since 2012)
Current  version 1.9.1
(November 26, 2018)
operating system platform independent
programming language C ++
category Program library for image processing , machine vision
License BSD
http://www.pointclouds.org/

The Point Cloud Library ( PCL ) is a free program library with numerous algorithms for processing n-dimensional point clouds and three-dimensional geometries. The library contains algorithms for feature extraction, surface reconstruction and the registration of point clouds.

The project is being driven by a global consortium that includes numerous universities and research institutes as well as large companies such as Toyota , Intel and Nvidia . The library is programmed in C ++ and is published under the BSD license . The source code is available on GitHub .

The library is divided into several modules that correspond to specific tasks, e.g. B. Filters , registration , segmentation , surface reconstruction, model estimation or visualization. One of the areas of application is robot navigation. The Robot Operating System has an interface to the PCL. The library can also be used to manipulate and visualize the 3D data generated by the Kinect sensor.

The PCL now has a similar status for 3D image processing to OpenCV for 2D image processing.

history

Development of the Point Cloud Library began in March 2010 at Willow Garage . In March 2011, a dedicated website was set up for the project. Since 2012, the library has been managed by the non-profit organization Open Perception Foundation , an offshoot of Willow Garage.

The first officially released version of the PCL appeared two months later in May 2011.

In 2011 and 2012, the PCL project took part in the “ Google Summer of Code ” program.

At the ICRA robotics conference , which took place in Karlsruhe in May 2013, a full-day workshop was dedicated to the PCL.

Individual evidence

  1. ↑ Dirk Holz, Alexandru E. Ichim, Federico Tombari, Radu B. Rusu, Sven Behnke: Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D . In: IEEE Robotics Automation Magazine . 22, No. 4, 2015, pp. 110–124. doi : 10.1109 / MRA.2015.2432331 .
  2. ↑ About PCL. Retrieved June 25, 2013 .
  3. ↑ PCL on GitHub. GitHub, Inc., accessed August 17, 2017 .
  4. ↑ Ulrich Rückert, Joaquin Sitte, Felix Werner: Advances in Autonomous Mini Robots . Springer, 2012, ISBN 978-3-642-27481-7 .
  5. ↑ PCL API. Robot Operating System, accessed May 26, 2013 .
  6. ↑ Jeff Kramer: Hacking the Kinect . Apress, 2012, ISBN 978-1-4302-3867-6 .
  7. ↑ PointClouds.org: A new home for Point Cloud Library (PCL). Willow Garage, March 28, 2011, accessed May 26, 2013 .
  8. ↑ PCL 1.0! May 12, 2011, accessed May 26, 2013 .
  9. ↑ PCL - Google Summer of Code 2012. March 18, 2012, accessed on May 26, 2013 .
  10. ↑ PCL Tutorial at ICRA 2013. May 10, 2013, accessed on May 26, 2013 (English).