The Point Cloud Library (PCL) is a large scale, open project for point cloud processing. The PCL framework contains numerous state-of-the art algorithms including filtering, feature estimation, surface reconstruction, registration, model fitting and segmentation. PCL is the 3D processing backbone of the Robot Operating System (ROS), with native support for OpenNI 3D, allowing it to acquire and process data from devices such as the PrimeSensor 3D cameras, the Microsoft Kinect, or the Asus XTionPRO. PCL is released under the terms of the BSD license and is open source software. It is free for commercial and research use.

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