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.github Fixed typo and rearragend items in the issue template Jan 28, 2018
2d Misc. typos (cont. 2) (#2217) Feb 26, 2018
apps Merge pull request #2267 from DominionSoftware/master Mar 27, 2018
cmake Improve QHull finder script Jun 17, 2018
common kiss_fft: drop unnecessary non-portable include Jul 9, 2018
cuda Misc. typos (cont. 2) (#2217) Feb 26, 2018
doc Switch to using client-based search in Doxygen Aug 18, 2018
examples Misc. typos (cont.) (#2215) Feb 16, 2018
features Handle non-dense clouds in FPFHEstimationOMP Apr 18, 2018
filters Add PointNormal to ExtractIndices Instantiate Types Aug 14, 2018
geometry Misc. typos (cont.) (#2215) Feb 16, 2018
gpu Misc. typos (cont. 2) (#2217) Feb 26, 2018
io addition of declaration header file Jun 24, 2018
kdtree Consistent use of 'Dist' template type within KdTreeFLANN May 16, 2016
keypoints Misc. typos (cont. 2) (#2217) Feb 26, 2018
ml Misc. typos (cont. 2) (#2217) Feb 26, 2018
octree [OCTREE] Rename 'OctreeLeafNodeBreadthIterator' -> 'OctreeLeafNodeBre… Jul 17, 2018
outofcore outofcore: Explictly use mt19937 random generator for boost 1.67. Jun 11, 2018
people Misc. typos (cont. 2) (#2217) Feb 26, 2018
recognition Setting the resolution of the occupancy grid Apr 4, 2018
registration Misc. typos (cont. 2) (#2217) Feb 26, 2018
sample_consensus Mark majority of methods in SAC models as const Mar 29, 2018
search Misc. typos (cont. 2) (#2217) Feb 26, 2018
segmentation Keep old signature of getPointCloudDifference as deprecated Jul 20, 2018
simulation Use GLuint rather than size_t to represent OpenGL indices. Mar 1, 2018
stereo Misc. typos (cont. 2) (#2217) Feb 26, 2018
surface Missing pcl::MovingLeastSquaresOMP declaration without /openmp (#2324) Jun 15, 2018
test [TEST] Octree: Add the OctreeBaseWalkThroughIteratorsTest over every … Jul 17, 2018
tools [TOOL] Uniform sampling (#2348) Jul 4, 2018
tracking Corrects rotation sampling in the tracker's XYZRPY particle filter (#… Jun 14, 2018
visualization pcl_visualizer: unbreak with boost 1.68 Jul 9, 2018
.appveyor.yml Enable Global Tests on Windows CI Dec 24, 2017
.travis.sh Split (yet again) Travis test job into two and tweak timings in build… Jan 11, 2018
.travis.yml Split (yet again) Travis test job into two and tweak timings in build… Jan 11, 2018
AUTHORS.txt Improve README.md and AUTHORS.txt Feb 15, 2016
CHANGES.md Misc. typos (cont. 2) (#2217) Feb 26, 2018
CMakeLists.txt Fix Output Directories for Ninja Dec 24, 2017
CONTRIBUTING.md Add "License" section to CONTRIBUTING.md Mar 9, 2014
LICENSE.txt changed base license to point to OP Jun 22, 2012
PCLConfig.cmake.in Mark found PCL component libraries and include dirs as advanced Feb 28, 2018
PCLConfigVersion.cmake.in Add PCL_VERSION_PLAIN and use where appropriate Jun 30, 2017
README.md Merge pull request #2083 from SergioRAgostinho/appveyor Dec 8, 2017
pcl_config.h.in Update PCL_VERSION_COMPARE macro function to account for development … Jun 29, 2017


Point Cloud Library

Continuous integration

Release License

Build Status Build Status


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:



Please read CONTRIBUTING.md.


For general questions on how to use the PCL, please use the pcl-users mailing list (do not forget to subscribe before posting). To report issues, please read CONTRIBUTING.md#bug-reports.

API/ABI Compatibility Report

For details about API/ABI changes over the timeline please check PCL's page at ABI Laboratory.