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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 kd-tree implementation extremely slow

I am using Point Cloud Library (PCL) based C++ implementation of kd-tree nearest neighbour(NN) searching. The data set contains about 2.2 million points. I am searching NN points for every other point. The search radius is set at 2.0. To fully…
ayan.c
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Handling multiple FIND_PACKAGE calls in CMake

I have a quick question about the FIND_PACKAGE function in CMake. I have a project which utilizes the point cloud library (PCL). PCL depends on Boost, and my project does as well. So, at the top of my CMakeLists.txt I have the…
mevatron
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PCL - Global Registration with LUM

I'm working on a registration project, I have a chair with some objects rotating in front of a kinect. I can have successful pairwise registration, but as expected there is some drift (result in image). I want to use LUM, in order to have a global…
dim_tz
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How can I change RGB values of pcl::PointXYZRGBA?

I have a point of the type pcl::PointXYZRGBA. How can I assign/change its rgb values? For changing xyz coordinates, I can simply do point.x = some_value.
user1403483
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Cmake is Unable to Configure Project for Visual Studios 10 amd64

I am trying to get CMAKE to create a project for msvc 10 express edition for x64 architecture. I have both MSVC 2010 Express and Windows SDK 7.1 installed. If I start CMake Normally I can create a 32 bit project, however it fails to make a 64 bit…
DanChianucci
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Compute distances of points relatively to reference point cloud

A point-cloud to point-cloud distance can be simply computed using the nearest neighbor distance. The issue is that the nearest neighbour is not necessarily the actual nearest point on the surface represented by the cloud. Especially in our case:…
Mvz
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PCL estimates wrong normal direction in some parts

I am using PCL to calculate the normal of point clouds. With Meshlab, normals are as the right one, although all normals are from outer to inner, it will be correct after I reverse them all. But when I use PCL to do this, the direction of some…
Summer Sun
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Remove points outside defined 3D box inside PCL visualizer

In a given point cloud, I want to remove all the points which are less than min and greater than max for all x, y and z direction. Below is the sample code: #include #include #include…
ravi
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What does T::* signify in the declaration of a function parameter list?

I declare a particular keyboard callback function as this inside my code: void keyboardEventCallback(const pcl::visualization::KeyboardEvent &event, void* viewer_void, void* widget_void); The keyboard event is the actual event passed to the…
wfehrnstrom
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Turtlebot subscriber pointcloud2 shows color in Gazebo simulator but not in robot

I am subscribing to topic "/camera/depth/points" and message PointCloud2 on a turtlebot (deep learning version) with ASUS Xtion PRO LIVE camera. I have used the python script below under the gazebo simulator environment and i can receive x, y, z and…
fartagaintuxedo
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Point Cloud using iPhone camera

I'm very new to the Computer Vision field and am fascinated by it. I'm still learning the concepts, and one thing that really caught my interest was Point Clouds and 3D reconstructions using images. I was wondering whether images taken from an…
Shayan Jalil
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How to convert cv::Mat to pcl::pointcloud

How to get from a opencv Mat pointcloud to a pcl::pointcloud? The color is not important for me only the points itself.
Martijn van Wezel
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How to Display a 3D image when we have Depth and rgb Mat's in OpenCV (captured from Kinect)

We captured a 3d Image using Kinect with OpenNI Library and got the rgb and depth images in the form of OpenCV Mat using this code. main() { OpenNI::initialize(); puts( "Kinect initialization..." ); Device device; if (…
Ashok Varma
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debug seg fault in boost::math::lanczos with libpcl_surface

I get the following error only when I debug using gdb on my code compiled with debug flag Program received signal SIGSEGV, Segmentation fault. 0x00007fffc79a7ff0 in boost::math::lanczos::lanczos_initializer
Geronimo
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How to detect the difference between two 3D point clouds?

I have two 3D point clouds using the Point Cloud Library. One which is the reference point cloud(lets call it A) and the other one with a deformity(lets call it B). Both the point clouds are taken from objects which are somehow with no or very…
soupso
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