# Point Cloud Library

[![Release][release-image]][releases] [![License][license-image]][license] [release-image]: https://img.shields.io/badge/release-1.14.0-green.svg?style=flat [releases]: https://github.com/PointCloudLibrary/pcl/releases [license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat [license]: https://github.com/PointCloudLibrary/pcl/blob/master/LICENSE.txt Website ------- The new website is now online at https://pointclouds.org and is open to [contributions](https://github.com/PointCloudLibrary/PointCloudLibrary.github.io) :hammer_and_wrench:. If you really need access to the old website, please use [the copy made by the internet archive](https://web.archive.org/web/20191017164724/http://www.pointclouds.org/). Please be aware that the website was hacked before and could still be hosting some malicious code. Continuous integration ---------------------- [ci-latest-build]: https://dev.azure.com/PointCloudLibrary/pcl/_build/latest?definitionId=9&branchName=master [ci-ubuntu-20.04]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20GCC&jobName=Ubuntu&configuration=Ubuntu%2020.04%20GCC&label=Ubuntu%2020.04%20GCC [ci-ubuntu-22.04]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20Clang&jobName=Ubuntu&configuration=Ubuntu%2022.04%20Clang&label=Ubuntu%2022.04%20Clang [ci-ubuntu-23.04]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20GCC&jobName=Ubuntu&configuration=Ubuntu%2023.04%20GCC&label=Ubuntu%2023.04%20GCC [ci-windows-x86]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20MSVC&jobName=Windows%20Build&configuration=Windows%20Build%20x86&label=Windows%20VS2019%20x86 [ci-windows-x64]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20MSVC&jobName=Windows%20Build&configuration=Windows%20Build%20x64&label=Windows%20VS2019%20x64 [ci-macos-12]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20Clang&jobName=macOS&configuration=macOS%20Monterey%2012&label=macOS%20Monterey%2012 [ci-macos-13]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/9?branchName=master&stageName=Build%20Clang&jobName=macOS&configuration=macOS%20Ventura%2013&label=macOS%20Ventura%2013 [ci-docs]: https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/Documentation?branchName=master [ci-latest-docs]: https://dev.azure.com/PointCloudLibrary/pcl/_build/latest?definitionId=14&branchName=master Build Platform | Status ------------------------ | ------------------------------------------------------------------------------------------------- | Ubuntu | [![Status][ci-ubuntu-20.04]][ci-latest-build]
[![Status][ci-ubuntu-22.04]][ci-latest-build]
[![Status][ci-ubuntu-23.04]][ci-latest-build] | Windows | [![Status][ci-windows-x86]][ci-latest-build]
[![Status][ci-windows-x64]][ci-latest-build] | macOS | [![Status][ci-macos-12]][ci-latest-build]
[![Status][ci-macos-13]][ci-latest-build] | Documentation | [![Status][ci-docs]][ci-latest-docs] | Read the Docs | [![Documentation Status](https://readthedocs.org/projects/pcl-tutorials/badge/?version=master)](https://pcl.readthedocs.io/projects/tutorials/en/master/?badge=master) | Community --------- [![Discord][discord-image]][discord-server] [![StackOverflow][so-question-count]][stackoverflow] [![Website][website-status]][website] [discord-image]: https://img.shields.io/discord/694824801977630762?color=7289da&label=community%20chat&logo=discord&style=plastic [discord-server]: https://discord.gg/JFFMAXS [website-status]: https://img.shields.io/website/https/pointcloudlibrary.github.io.svg?down_color=red&down_message=is%20down&up_color=green&up_message=is%20new [website]: https://pointclouds.org/ [so-question-count]: https://img.shields.io/stackexchange/stackoverflow/t/point-cloud-library.svg?logo=stackoverflow [stackoverflow]: https://stackoverflow.com/questions/tagged/point-cloud-library Distribution --------- [![Packaging status](https://repology.org/badge/tiny-repos/pcl-pointclouds.svg)](https://repology.org/project/pcl-pointclouds/badges) [![latest packaged version(s)](https://repology.org/badge/latest-versions/pcl-pointclouds.svg)](https://repology.org/project/pcl-pointclouds/versions)
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Packaging status

Description ----------- The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing. PCL is released under the terms of the BSD license, and thus free for commercial and research use. We are financially supported by a consortium of commercial companies, with our own non-profit organization, Open Perception. We would also like to thank individual donors and contributors that have been helping the project. Compiling --------- Please refer to the platform specific tutorials: - [Linux](https://pcl-tutorials.readthedocs.io/en/latest/compiling_pcl_posix.html) - [Mac OS X](https://pcl-tutorials.readthedocs.io/en/latest/compiling_pcl_macosx.html) - [Microsoft Windows](https://pcl-tutorials.readthedocs.io/en/latest/compiling_pcl_windows.html) Documentation ------------- - [Tutorials](https://pcl-tutorials.readthedocs.io/) - [PCL trunk documentation](https://pointclouds.org/documentation/) Contributing ------------ Please read [CONTRIBUTING.md](https://github.com/PointCloudLibrary/pcl/blob/master/CONTRIBUTING.md). Issues ------ To report issues, please read [CONTRIBUTING.md#bug-reports](https://github.com/PointCloudLibrary/pcl/blob/master/CONTRIBUTING.md#bug-reports). For general questions on how to use the PCL, please consider one of the following alternatives instead: * [Stack Overflow](https://stackoverflow.com/questions/tagged/point-cloud-library) for Q&A as well as support for troubleshooting, installation and debugging. Do remember to tag your questions with the tag `point-cloud-library`. * [Discord Server](https://discord.gg/JFFMAXS) for live chat with other members of the PCL community and casual discussions Citation -------- We encourage other researchers to cite PCL if they use PCL or its components for their work or baselines. The bibtex entry for the same is ``` @InProceedings{Rusu_ICRA2011_PCL, author = {Radu Bogdan Rusu and Steve Cousins}, title = {{3D is here: Point Cloud Library (PCL)}}, booktitle = {{IEEE International Conference on Robotics and Automation (ICRA)}}, month = {May 9-13}, year = {2011}, address = {Shanghai, China}, publisher = {IEEE} } ```