.. raw:: html

<a href="https://github.com/strawlab/python-pcl">
<img style="position: absolute; top: 0; right: 0; border: 0;" src="https://s3.amazonaws.com/github/ribbons/forkme_right_darkblue_121621.png" alt="Fork me on GitHub"></a>

<script type="text/javascript">
  var _gaq = _gaq || [];
  _gaq.push(['_setAccount', 'UA-3707626-7']);
  _gaq.push(['_trackPageview']);
  (function() {
    var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
    ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
    var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
  })();
</script>

<div align="center"><img src="docs/image/pcl_logo_958x309.png" width="309"/></div>

Introduction

This is a small python binding to the pointcloud <http://pointclouds.org/>_ library. Currently, the following parts of the API are wrapped (all methods operate on PointXYZ) point types

• I/O and integration; saving and loading PCD files
• segmentation
• SAC
• smoothing
• filtering
• registration (ICP, GICP, ICP_NL)

The code tries to follow the Point Cloud API, and also provides helper function for interacting with NumPy. For example (from tests/test.py)

.. code-block:: python

import pcl
import numpy as np
p = pcl.PointCloud(np.array([[1, 2, 3], [3, 4, 5]], dtype=np.float32))
seg = p.make_segmenter()
seg.set_model_type(pcl.SACMODEL_PLANE)
seg.set_method_type(pcl.SAC_RANSAC)
indices, model = seg.segment()

or, for smoothing

.. code-block:: python

import pcl
p = pcl.load("C/table_scene_lms400.pcd")
fil = p.make_statistical_outlier_filter()
fil.set_mean_k (50)
fil.set_std_dev_mul_thresh (1.0)
fil.filter().to_file("inliers.pcd")

Point clouds can be viewed as NumPy arrays, so modifying them is possible using all the familiar NumPy functionality:

.. code-block:: python

import numpy as np
import pcl
p = pcl.PointCloud(10)  # "empty" point cloud
a = np.asarray(p)       # NumPy view on the cloud
a[:] = 0                # fill with zeros
print(p[3])             # prints (0.0, 0.0, 0.0)
a[:, 0] = 1             # set x coordinates to 1
print(p[3])             # prints (1.0, 0.0, 0.0)

More samples can be found in the examples directory <https://github.com/strawlab/python-pcl/tree/master/examples>, and in the unit tests <https://github.com/strawlab/python-pcl/blob/master/tests/test.py>.

This work was supported by Strawlab <http://strawlab.org/>_.

Requirements

This release has been tested on Linux Ubuntu 14.04 with

• Python 2.7.6, 3.4.0, 3.5.2
• pcl 1.7.0
• Cython <= 0.25.2

and MacOS with

• Python 2.7.6, 3.4.0, 3.5.2
• pcl 1.8.1(use homebrew)
• Cython <= 0.25.2

and Windows with

• (Miniconda/Anaconda) - Python 3.4
• pcl 1.6.0(VS2010)
• Cython <= 0.25.2
• Gtk+

and Windows with

• (Miniconda/Anaconda) - Python 3.5
• pcl 1.8.1(VS2015)
• Cython <= 0.25.2
• Gtk+

Installation

Linux(Ubuntu)

before Install module ^^^^^^^^^^^^^^^^^^^^^

PCL 1.7.0 and Ubuntu14.04 (use apt-get)

    1. Install PCL Module.

    .. code-block:: none

        sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl -y

        sudo apt-get update -y

        sudo apt-get install libpcl-all -y


PCL 1.7.2 and Ubuntu16.04 (use Debian package)

    1. Install PCL Module.?

    .. code-block:: none

        sudo apt-get update -y

        sudo apt-get install build-essential devscripts

        dget -u https://launchpad.net/ubuntu/+archive/primary/+files/pcl_1.7.2-14ubuntu1.16.04.1.dsc

        cd pcl-1.7.2

        sudo dpkg-buildpackage -r -uc -b

        sudo dpkg -i pcl_*.deb

        * current add ppa 
          (sudo add-apt-repository -remove ppa:v-launchpad-jochen-sprickerhof-de/pcl -y)

        Reference `here <https://launchpad.net/ubuntu/xenial/+package/pcl-tools>`_.


PCL 1.8.0 and Ubuntu16.04(build module)([CI Test Timeout])

    1. Build Module

        Reference `here <https://askubuntu.com/questions/916260/how-to-install-point-cloud-library-v1-8-pcl-1-8-0-on-ubuntu-16-04-2-lts-for>`_.

MacOSX

before Install module ^^^^^^^^^^^^^^^^^^^^^

    Case1. use homebrew(PCL 1.8.1 - 2017/11/13 current)

    1. Install PCL Module.

        .. code-block:: none

        brew tap homebrew/science

        brew install pcl

Warning:

Current Installer (2017/10/02) Not generated pcl-2d-1.8.pc file.(Issue #119)

Reference PointCloudLibrary Issue.

   `Pull qequests 1679 <https://github.com/PointCloudLibrary/pcl/pull/1679>`_.

   `Issue 1978 <https://github.com/PointCloudLibrary/pcl/issues/1978>`_.

circumvent:

copy travis/pcl-2d-1.8.pc file to /usr/local/lib/pkgconfig folder.

Windows

before Install module ^^^^^^^^^^^^^^^^^^^^^

    Case1. use PCL 1.6.0 

        `Windows SDK 7.1 <http://www.microsoft.com/download/en/details.aspx?id=8279>`_

            PCL All-In-One Installer <http://pointclouds.org/downloads/windows.html>_

            32 bit <http://sourceforge.net/projects/pointclouds/files/1.6.0/PCL-1.6.0-AllInOne-msvc2010-win32.exe/download>_

            `64 bit <http://sourceforge.net/projects/pointclouds/files/1.6.0/PCL-1.6.0-AllInOne-msvc2010-win64.exe/download>`_

           OpenNI2[(PCL Install FolderPath)\3rdParty\OpenNI\OpenNI-(win32/x64)-1.3.2-Dev.msi]

    Case2. use 1.8.1

            Visual Studio 2015 C++ Compiler Tools <http://landinghub.visualstudio.com/visual-cpp-build-tools>_

            PCL All-In-One Installer <https://github.com/PointCloudLibrary/pcl/releases/>_

            32 bit <https://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2015-win32.exe>_

            64 bit <https://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2015-win64.exe>_

          OpenNI2[(PCL Install FolderPath)\3rdParty\OpenNI2\OpenNI-Windows-(win32/x64)-2.2.msi]

        Common setting            

        `Windows Gtk+ Download <http://win32builder.gnome.org/>`_                   

            Download file unzip. Copy bin Folder to pkg-config Folder                  
             
            or execute powershell file [Install-GTKPlus.ps1].

Python Version use VisualStudio Compiler <https://wiki.python.org/moin/WindowsCompilers>_

set before Environment variable ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^     1. PCL_ROOT

    set PCL_ROOT=$(PCL Install FolderPath)

2. PATH

    (pcl 1.6.0)
    set PATH=$(PCL_ROOT)/bin/;$(OPEN_NI_ROOT)/Tools;$(VTK_ROOT)/bin;%PATH%

    (pcl 1.8.1)
    set PATH=$(PCL_ROOT)/bin/;$(OPEN_NI2_ROOT)/Tools;$(VTK_ROOT)/bin;%PATH%

Common setting

1. pip module install.

.. code-block:: none

pip install --upgrade pip

pip install cython==0.25.2

pip install numpy

2. instal python module

.. code-block:: none

  python setup.py build_ext -i

python setup.py install

Build & Test Status

windows(1.6.0/1.8.1)

  .. image:: https://ci.appveyor.com/api/projects/status/w52fee7j22q211cm/branch/master?svg=true :target: https://ci.appveyor.com/project/Sirokujira/python-pcl-iju42

Mac OSX(1.8.1)/Ubuntu14.04(1.7.0)

.. image:: https://travis-ci.org/strawlab/python-pcl.svg?branch=master
    :target: https://travis-ci.org/strawlab/python-pcl

A note about types

Point Cloud is a heavily templated API, and consequently mapping this into Python using Cython is challenging.

It is written in Cython, and implements enough hard bits of the API (from Cythons perspective, i.e the template/smart_ptr bits) to provide a foundation for someone wishing to carry on.

API Documentation

For deficiencies in this documentation, please consult the PCL API docs <http://docs.pointclouds.org/trunk/index.html>, and the PCL tutorials <http://pointclouds.org/documentation/tutorials/>.