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Questions tagged [point-cloud-library]

The Point Cloud Library (PCL) is a standalone, large scale, open (BSD licensed) project for 3D point cloud processing.

Point Cloud Library is an open-source framework for point-cloud processing. Founded 2010, it is an initiative sponsored by Willow Garage, NVidia, Google, and others. It is written in C++ and distributed under the BSD license.

Latest release: v1.11.1 released on Aug 14, 2020

PCL contains 3D geometry processing methods, which are divided into following modules:

  • filters
  • features
  • keypoints
  • registration
  • kdtree
  • octree
  • segmentation
  • sample_consensus
  • surface
  • range_image
  • io
  • visualization

Links

1397 questions
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PCL: Visualize a point cloud

I'm trying to visualize a point cloud using PCL CloudViewer. The problem is that I'm quite new to C++ and I have found two tutorials first demonstrating the creation of PointCloud and second demonstrating the visualization of a PointCloud. However,…
liborw
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Convert pcl point type XYZ to Eigen Vector 4f

I am trying to convert pcl pointXYZ to eigen vector Eigen::Vector4f min (minPnt.x, minPnt.y, minPnt.z); Eigen::Vector4f max (maxPnt.x, maxPnt.y, maxPnt.z); where minPnt and maxPnt are of type pcl::PointXYZ. However, I get an error as "error…
Launa
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Adding two different point clouds to viewer (Point Cloud Library (PCL))

I just started to use the great point cloud library and wanted to display two point clouds within one viewer but each in a different colour. When I use one point cloud object (pointer?!) it works just fine but if I want to add a second one, only the…
GeoGecco
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CMake: link against two precompiled libraries dependent on different versions of third library

I'm trying to compile a project where I'm linking against precompiled versions of two libraries (PCL and Matlab), that are compiled against different versions of Boost (1.58 and 1.56). This gives me many warnings when I build my project: Cannot…
Atnas
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VSCode C++ IntelliSense works fine except for PCL (Point Cloud Library)

On SO itself, there are already many questions about VSCode IntelliSense, e.g., que1, que2, que3, etc. However, they mainly talk about IntelliSense not working in general; not working for STL; and so on. On the other hand, in my case, I'm already…
Milan
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how to import all the points from a .pcd file into a 2d python array

How do you import all the 3d points from a file named edge_cloud.pcd and put them into an array? I want the array to be in the format array=[[xvalue1,yvalue1,zvalue1],[xvalue2,yvalue2,zvalue2]]
Brian Kreidberg
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PCL library, how to access to organized point clouds?

I have a very simple question: I have an organized point cloud stored in a pcl::PointCloud data structure. If I didn't get it wrong, organized point clouds should be stored in a matrix-like structure. So, my question is: is there a…
Federico Nardi
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How to convert the depth map to 3D point clouds?

When I convert depth map to 3D point cloud, I found there is a term called scaling factor. Can anyone give me some idea what scaling factor actually is. Is there any relationship between scaling factor and focal length. The code is as…
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Point Cloud Library with Visual Studio 2017

I'm having trouble using Point Cloud Library with Microsoft Visual Studio 2017. I have installed [PCL-1.8.1-AllInOne-msvc2017-win64.exe] and I've followed the steps mentioned here. to link it to my Visual Studio 2017 project. My problem is that…
IsmNaj
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Point Clouds File Formats (PCL)

I’m new to Point Clouds and I’m very enthusiastic about the whole concept so I searched a bit and found the Point Cloud Library (PCL). http://www.pointclouds.org I was expecting PCL to load most of the popular point cloud file formats but as far as…
neosettler
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Visualize pointcloud

I have 3D points from gpu::reprojectImageTo3D on a found disparity image. I would now like to display this pointcloud. How do I Convert the found pointcloud from OpenCV to sensor_msgs/PointCloud2 ? I do not need to publish the pointcloud this is…
JTIM
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Point cloud registration using PCL Iterative closest point

I try to perform ICP with PCL, but pcl::transformPointCloud doesn't work. This my code: int main () { pcl::PointCloud::Ptr cloudIn (new pcl::PointCloud); pcl::PointCloud::Ptr cloudOut (new…
lotfishtaine
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Save pcl::PointCloud in format compatible with Meshlab

Is there any function in PCL library to save pcl::PointCloud point cloud in format XYZRGB that can be opened with Meshlab? Seems pcl::io::savePCDFileASCII (filename, cloud); stores RGB values in some specific way.
mrgloom
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Rotation and Transformation of a plane to XY plane and origin in PointCloud

I have a point cloud that is known to contain the floor. This is oriented in some unknown direction and is not at the origin (0,0,0). I have to move the floor_plane to XY plane, so that the floor_plane lies on XY plane move the centroid of…
pr4n
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how to pick two points from viewer in PCL

I would like to pick two points from pointcloud and return coordinates of the two points. In order to get down to the problem, I have used the PointPickingEvent of PCL, and written a class containing pointcloud, visualizer, and a vector to store…
just_rookie
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