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6.7K Stars 4.0K Forks Other 13.5K Commits 633 Opened issues


Point Cloud Library (PCL)

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Point Cloud Library

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The new website is now online at and is open to contributions :hammerandwrench:.

If you really need access to the old website, please use the copy made by the internet archive. Please be aware that the website was hacked before and could still be hosting some malicious code.

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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.


Please refer to the platform specific tutorials: - Linux - Mac OS X - Microsoft Windows



Please read


To report issues, please read

For general questions on how to use the PCL, please consider one of the following alternatives instead: * Stack Overflow for Q&A as well as support for troubleshooting, installation and debugging. Do remember to tag your questions with the tag

. * Discord Server for live chat with other members of the PCL community and casual discussions


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

  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}

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