This is a small python binding to the 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

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")

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 unit tests.

This work was supported by Requirements

This release has been tested on Linux Ubuntu 16.04 with

• Python 2.7.6, 3.5.x
• pcl 1.7.2(apt install)
• Cython <= 0.25.2

This release has been tested on Linux Ubuntu 18.04 with

• Python 2.7.6, 3.5.x
• pcl 1.8.1(apt install)
• Cython <= 0.25.2

and MacOS with

• Python 2.7.6, 3.5.x
• pcl 1.9.1(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+

and Windows with

• (Miniconda/Anaconda) - Python 3.6
• pcl 1.8.1(VS2017[Priority High]/VS2015[not VS2017 Install])
• Cython == 0.25.2
• Gtk+

Installation

Linux(Ubuntu)

before Install module

Ubuntu16.04/18.04 (use official package)

1. Install PCL Module.

$ sudo apt-get update -y

$ sudo apt-get install libpcl-dev -y

Reference `here <https://packages.ubuntu.com/search?keywords=libpcl-dev>`_.

PCL 1.8.x/1.9.x and Ubuntu16.04/18.04(build module)([CI Test Timeout])

1. Build Module

   Reference MacOSX

   before Install module

   Case1. use homebrew(PCL 1.9.1 - 2018年12月25日 current)

   1. Install PCL Module.

      $ brew tap homebrew/science

      $ brew install pcl

   Case1. use old homebrew(PCL 1.8.1 - 2017年11月13日 current)

   1. Check git log.

      $ cd /usr/local/Library/Formula

      $ git log ...

   2. git checkout (target hash) pcl.rb

      write after.

   Warning:

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

   Reference PointCloudLibrary Issue.

   Issue 1978.

   circumvent:

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

   Windows

   Using pip with a precompiled wheel

   This is the simpliest method on windows. The wheel contains the PCL binaries _ and thus you do not need to install the original PCL library.

   1. Go in the history on the pip install python_pcl-XXX.whl

      Compiling the binding from source

      If the method using the procompiled wheel does not work you can compile the binding from the source.

      before Install module

      Case1. use PCL 1.6.0

      PCL All-In-One Installer

      64 bit

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

      Case2. use 1.8.1/1.9.1

   Visual Studio 2017 C++ Compiler Tools(use Python 3.6.x/3.7.x)

   Visual Studio 2015 - 32 bit

   Visual Studio 2015 - 64 bit

   Visual Studio 2017 - 32 bit

   Windows Gtk+ Download Download file unzip. Copy bin Folder to pkg-config Folder

   Download file unzip. Copy bin Folder to pkg-config Folder

   or execute powershell file [Install-GTKPlus.ps1].

   set before Environment variable

   1. PCL_ROOT

    set PCL_ROOT=(PCL Install/Build_Binary FolderPath)
   
   2. PATH
   

   (pcl 1.6.0)
   set PATH=%PCL_ROOT%/bin/;%OPEN_NI_ROOT%/Tools;%VTK_ROOT%/bin;%PATH%
   
   (pcl 1.8.1/1.9.1)
   set PATH=%PCL_ROOT%/bin/;%OPEN_NI2_ROOT%/Tools;%VTK_ROOT%/bin;%PATH%
   

   Common setting

   1. pip module install.

   pip install --upgrade pip
   
   pip install cython
   
   pip install numpy
   

   2. install python module

   python setup.py build_ext -i
   
   python setup.py install
   

   3. install python-pcl with conda (solved)

   -> conda create -n ipk # create a new conda env. -> conda activate ipk # activate env.

   -> conda update -n base -c defaults conda # update conda

   -> conda config --add channels conda-forge # add conda-forge channels -> conda install -c sirokujira python-pcl # pcl installation -> conda install -c jithinpr2 gtk3 # Gtk+ Gui dependency -> conda install -y ipython # install ipython -> conda install -y jupyter # install jupyter

   After that, run jupyter notebook or ipython shell to test pcl installation.

   Build & Test Status

   windows(1.6.0/1.8.1/1.9.1)

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

   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

   PCL API docs, and the /touchmii/python-pcl