MINIPCL

minipcl is a highly reduced version of the PCL library. It only includes code from IO and COMMON PCL modules, but with only a couple of depedencies:

• boost
• Eigen

minipcl is useful if you just use PCL for reading/saving PCD, PLY, OBJ, ... file formats. In fact it allows you to load these formats into PCLPointCloud2 or pcl::PointCloud<PointT> objects. Then you can convert these objects to your type or to Eigen matrixes, or do whatever you need with the loaded data.

minipcl is generated by a really-raw python script which checkout last commis from PCL and then copy required files into the minipcl folder. You can run it like this (you dont really need to but...):

./generate.py

Notice that you will need python >= 3.2 for some specific functions to work.