Point Cloud Library

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Point Cloud Library
Pcl (PointClouds library) logo with text.png
Original author(s) Willow Garage
Initial release March 2010; 7 years ago (2010-03)[1][2]
Stable release
1.7.2 / September 11, 2014; 3 years ago (2014-09-11)[3]
Repository github.com/PointCloudLibrary/pcl
Operating system Cross-platform
Type Library
License BSD license
Website pointclouds.org

The Point Cloud Library (PCL) is an open-source library of algorithms for point cloud processing tasks and 3D geometry processing, such as occur in three-dimensional computer vision. The library contains algorithms for feature estimation, surface reconstruction, registration, model fitting, and segmentation. It is written in C++ and released under the BSD license.

These algorithms have been used, for example, for perception in robotics to filter outliers from noisy data, stitch 3D point clouds together, segment relevant parts of a scene, extract keypoints and compute descriptors to recognize objects in the world based on their geometric appearance, and create surfaces from point clouds and visualize them.[4][not in citation given]


The development of the Point Cloud Library started in March 2010 at Willow Garage. The project initially resided on a sub domain of Willow Garage then moved to a new website www.pointclouds.org in March 2011.[1] PCL's first official release (Version 1.0) was released two months later in May 2011.[2]


PCL is split into a number of modular libraries.[5]


  1. ^ a b B. Rusu, Radu (28 March 2011). "PointClouds.org: A new home for Point Cloud Library (PCL)". Willow Garage. Retrieved 26 November 2012. 
  2. ^ a b "PCL 1.0!". PCL. 12 May 2011. Retrieved 24 May 2013. 
  3. ^ https://github.com/PointCloudLibrary/pcl/releases
  4. ^ Robot Operating System: http://www.ros.org/wiki
  5. ^ PCL documentation and tutorials: http://pointclouds.org/documentation/

External links[edit]