{"id":13439557,"url":"https://github.com/strawlab/python-pcl","last_synced_at":"2025-12-18T10:08:26.563Z","repository":{"id":3303892,"uuid":"4345812","full_name":"strawlab/python-pcl","owner":"strawlab","description":"Python bindings to the pointcloud library (pcl)","archived":true,"fork":false,"pushed_at":"2023-12-30T22:30:45.000Z","size":42274,"stargazers_count":2026,"open_issues_count":261,"forks_count":700,"subscribers_count":56,"default_branch":"master","last_synced_at":"2025-01-14T22:54:11.175Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"http://strawlab.github.com/python-pcl/","language":"Cython","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/strawlab.png","metadata":{"files":{"readme":"readme.rst","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2012-05-16T10:26:35.000Z","updated_at":"2025-01-10T07:27:27.000Z","dependencies_parsed_at":"2023-12-30T23:18:47.686Z","dependency_job_id":"0fba817c-73c1-4d8b-b462-7cc3864a7a09","html_url":"https://github.com/strawlab/python-pcl","commit_stats":{"total_commits":869,"total_committers":28,"mean_commits":"31.035714285714285","dds":0.2220943613348677,"last_synced_commit":"d74c62b6fd605e69800697f254fbe9e3466186a7"},"previous_names":[],"tags_count":2,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/strawlab%2Fpython-pcl","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/strawlab%2Fpython-pcl/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/strawlab%2Fpython-pcl/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/strawlab%2Fpython-pcl/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/strawlab","download_url":"https://codeload.github.com/strawlab/python-pcl/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":234555828,"owners_count":18851854,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-07-31T03:01:15.110Z","updated_at":"2025-09-28T19:31:43.721Z","avatar_url":"https://github.com/strawlab.png","language":"Cython","funding_links":[],"categories":["Cython","Sensor Processing"],"sub_categories":["Lidar and Point Cloud Processing","Point Cloud Processing"],"readme":"**⚠⚠ This repository has been archived as is it is no longer maintained.\nPlease see https://github.com/strawlab/python-pcl/issues/395 for details. ⚠⚠**\n\n.. raw:: html\n\n    \u003ca href=\"https://github.com/strawlab/python-pcl\"\u003e\n    \u003cimg 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\"\u003e\u003c/a\u003e\n\n    \u003cscript type=\"text/javascript\"\u003e\n      var _gaq = _gaq || [];\n      _gaq.push(['_setAccount', 'UA-3707626-7']);\n      _gaq.push(['_trackPageview']);\n      (function() {\n        var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;\n        ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';\n        var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);\n      })();\n    \u003c/script\u003e\n\n    \u003cdiv align=\"center\"\u003e\u003cimg src=\"docs/image/pcl_logo_958x309.png\" width=\"309\"/\u003e\u003c/div\u003e\n\nIntroduction\n============\n\nThis is a small python binding to the `pointcloud \u003chttp://pointclouds.org/\u003e`_ library.\nCurrently, the following parts of the API are wrapped (all methods operate on PointXYZ)\npoint types\n\n * I/O and integration; saving and loading PCD files\n * segmentation\n * SAC\n * smoothing\n * filtering\n * registration (ICP, GICP, ICP_NL)\n\nThe code tries to follow the Point Cloud API, and also provides helper function\nfor interacting with NumPy. For example (from tests/test.py)\n\n.. code-block:: python\n\n    import pcl\n    import numpy as np\n    p = pcl.PointCloud(np.array([[1, 2, 3], [3, 4, 5]], dtype=np.float32))\n    seg = p.make_segmenter()\n    seg.set_model_type(pcl.SACMODEL_PLANE)\n    seg.set_method_type(pcl.SAC_RANSAC)\n    indices, model = seg.segment()\n\nor, for smoothing\n\n.. code-block:: python\n\n    import pcl\n    p = pcl.load(\"C/table_scene_lms400.pcd\")\n    fil = p.make_statistical_outlier_filter()\n    fil.set_mean_k (50)\n    fil.set_std_dev_mul_thresh (1.0)\n    fil.filter().to_file(\"inliers.pcd\")\n\nPoint clouds can be viewed as NumPy arrays, so modifying them is possible\nusing all the familiar NumPy functionality:\n\n.. code-block:: python\n\n    import numpy as np\n    import pcl\n    p = pcl.PointCloud(10)  # \"empty\" point cloud\n    a = np.asarray(p)       # NumPy view on the cloud\n    a[:] = 0                # fill with zeros\n    print(p[3])             # prints (0.0, 0.0, 0.0)\n    a[:, 0] = 1             # set x coordinates to 1\n    print(p[3])             # prints (1.0, 0.0, 0.0)\n\nMore samples can be found in the `examples directory \u003chttps://github.com/strawlab/python-pcl/tree/master/examples\u003e`_,\nand in the `unit tests \u003chttps://github.com/strawlab/python-pcl/blob/master/tests/test.py\u003e`_.\n\nThis work was supported by `Strawlab \u003chttp://strawlab.org/\u003e`_.\n\nRequirements\n============\n\nThis release has been tested on Linux Ubuntu 16.04 with\n\n * Python 2.7.6, 3.5.x\n * pcl 1.7.2(apt install)\n * Cython \u003c= 0.25.2\n\nThis release has been tested on Linux Ubuntu 18.04 with\n\n * Python 2.7.6, 3.5.x\n * pcl 1.8.1(apt install)\n * Cython \u003c= 0.25.2\n\nand MacOS with\n\n * Python 2.7.6, 3.5.x\n * pcl 1.9.1(use homebrew)\n * Cython \u003c= 0.25.2\n\nand Windows with\n\n * (Miniconda/Anaconda) - Python 3.4\n * pcl 1.6.0(VS2010)\n * Cython \u003c= 0.25.2\n * Gtk+\n\nand Windows with\n\n * (Miniconda/Anaconda) - Python 3.5\n * pcl 1.8.1(VS2015)\n * Cython \u003c= 0.25.2\n * Gtk+\n\nand Windows with\n\n * (Miniconda/Anaconda) - Python 3.6\n * pcl 1.8.1(VS2017[Priority High]/VS2015[not VS2017 Install])\n * Cython == 0.25.2\n * Gtk+\n\n\nInstallation\n============\n\nLinux(Ubuntu)\n-------------\n\nbefore Install module\n^^^^^^^^^^^^^^^^^^^^^\n\n    Ubuntu16.04/18.04 (use official package)\n\n        1. Install PCL Module.\n\n        .. code-block:: bash\n\n            $ sudo apt-get update -y\n\n            $ sudo apt-get install libpcl-dev -y\n\n            Reference `here \u003chttps://packages.ubuntu.com/search?keywords=libpcl-dev\u003e`_.\n\n\n    PCL 1.8.x/1.9.x and Ubuntu16.04/18.04(build module)([CI Test Timeout])\n\n        1. Build Module\n\n            Reference `here \u003chttps://askubuntu.com/questions/916260/how-to-install-point-cloud-library-v1-8-pcl-1-8-0-on-ubuntu-16-04-2-lts-for\u003e`_.\n\n\nMacOSX\n------\n\nbefore Install module\n^^^^^^^^^^^^^^^^^^^^^\n\n        Case1. use homebrew(PCL 1.9.1 - 2018/12/25 current)\n\n        1. Install PCL Module.\n\n            .. code-block:: bash\n\n            $ brew tap homebrew/science\n\n            $ brew install pcl\n\n\n        Case1. use old homebrew(PCL 1.8.1 - 2017/11/13 current)\n\n        1. Check git log.\n\n            .. code-block:: bash\n\n            $ cd /usr/local/Library/Formula\n\n            $ git log ...\n\n        2. git checkout (target hash) pcl.rb\n\n            .. code-block:: bash\n\n            write after.\n\nWarning:\n\n   Current Installer (2017/10/02) Not generated pcl-2d-1.8.pc file.(Issue #119)\n\n   Reference PointCloudLibrary Issue.\n\n       `Pull request 1679 \u003chttps://github.com/PointCloudLibrary/pcl/pull/1679\u003e`_.\n\n       `Issue 1978 \u003chttps://github.com/PointCloudLibrary/pcl/issues/1978\u003e`_.\n\ncircumvent:\n\n    copy travis/pcl-2d-1.8.pc file to /usr/local/lib/pkgconfig folder.\n\nWindows\n-------\n\nUsing pip with a precompiled wheel\n^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n\n    This is the simpliest method on windows. The wheel contains the PCL binaries _ \n    and thus you do not need to install the original PCL library.\n\n    1. Go in the history on the `appveyor page \u003chttps://ci.appveyor.com/project/Sirokujira/python-pcl-iju42/history\u003e`_\n    2. Click on the last successful revision (green) and click on the job corresponding to your python version \n    3. Go in the artfacts section for that job and download the wheel (the file with extension whl)\n    4. In the command line, move to your download folder and run the following command (replacing XXX by the right string)  \n\n.. code-block:: bat\n\n            pip install python_pcl-XXX.whl\n\nCompiling the binding from source\n^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n\n    If the method using the procompiled wheel does not work you can compile the binding from the source.\n\nbefore Install module\n~~~~~~~~~~~~~~~~~~~~~\n\n        Case1. use PCL 1.6.0 \n\n            `Windows SDK 7.1 \u003chttp://www.microsoft.com/download/en/details.aspx?id=8279\u003e`_\n\n            `PCL All-In-One Installer \u003chttp://pointclouds.org/downloads/windows.html\u003e`_\n\n                `32 bit \u003chttp://sourceforge.net/projects/pointclouds/files/1.6.0/PCL-1.6.0-AllInOne-msvc2010-win32.exe/download\u003e`_\n\n                `64 bit \u003chttp://sourceforge.net/projects/pointclouds/files/1.6.0/PCL-1.6.0-AllInOne-msvc2010-win64.exe/download\u003e`_\n\n            OpenNI2[(PCL Install FolderPath)\\\\3rdParty\\\\OpenNI\\\\OpenNI-(win32/x64)-1.3.2-Dev.msi]\n\n        Case2. use 1.8.1/1.9.1\n\n            `Visual Studio 2015 C++ Compiler Tools(use Python 2.7/3.5/3.6/3.7) \u003chttps://www.visualstudio.com/vs/older-downloads/\u003e`_ \n\n            `Visual Studio 2017 C++ Compiler Tools(use Python 3.6.x/3.7.x) \u003chttp://landinghub.visualstudio.com/visual-cpp-build-tools\u003e`_ \n\n            `PCL All-In-One Installer \u003chttps://github.com/PointCloudLibrary/pcl/releases/\u003e`_\n\n                1.8.1\n\n                `Visual Studio 2015 - 32 bit \u003chttps://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2015-win32.exe\u003e`_\n\n                `Visual Studio 2017 - 32 bit \u003chttps://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2017-win32.exe\u003e`_\n\n                `Visual Studio 2015 - 64 bit \u003chttps://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2015-win64.exe\u003e`_\n\n                `Visual Studio 2017 - 64 bit \u003chttps://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2017-win64.exe\u003e`_\n\n                1.9.1\n\n                `Visual Studio 2017 - 32 bit \u003chttps://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.9.1/PCL-1.9.1-AllInOne-msvc2017-win32.exe\u003e`_\n\n                `Visual Studio 2017 - 64 bit \u003chttps://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.9.1/PCL-1.9.1-AllInOne-msvc2017-win64.exe\u003e`_\n\n            OpenNI2[(PCL Install FolderPath)\\\\3rdParty\\\\OpenNI2\\\\OpenNI-Windows-(win32/x64)-2.2.msi]\n\n        Common setting\n\n            `Windows Gtk+ Download \u003chttp://www.tarnyko.net/dl/gtk.htm\u003e`_                            Download file unzip. Copy bin Folder to pkg-config Folder\n                Download file unzip. Copy bin Folder to pkg-config Folder\n\n                or execute powershell file [Install-GTKPlus.ps1].\n\n`Python Version use VisualStudio Compiler \u003chttps://wiki.python.org/moin/WindowsCompilers\u003e`_\n\nset before Environment variable\n~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\n\n    1. PCL_ROOT\n\n.. code-block:: bat\n\n        set PCL_ROOT=(PCL Install/Build_Binary FolderPath)\n\n    2. PATH\n\n.. code-block:: bat\n\n        (pcl 1.6.0)\n        set PATH=%PCL_ROOT%/bin/;%OPEN_NI_ROOT%/Tools;%VTK_ROOT%/bin;%PATH%\n\n        (pcl 1.8.1/1.9.1)\n        set PATH=%PCL_ROOT%/bin/;%OPEN_NI2_ROOT%/Tools;%VTK_ROOT%/bin;%PATH%\n\nCommon setting\n--------------\n\n1. pip module install.\n\n.. code-block:: none\n\n    pip install --upgrade pip\n\n    pip install cython\n\n    pip install numpy\n\n2. install python module\n\n.. code-block:: none\n\n    python setup.py build_ext -i\n\n    python setup.py install\n    \n3. install python-pcl with conda (solved)\n\n.. code-block:: none\n\n    conda create -n ipk # create a new conda env. \n    conda activate ipk\t# activate env.\n\n    conda update -n base -c defaults conda # update conda\n\n    conda config --add channels conda-forge # add conda-forge channels\n    conda install -c sirokujira python-pcl # pcl installation\n    conda install -c jithinpr2 gtk3 # Gtk+ Gui dependency\n    conda install -y ipython #  install ipython\n    conda install -y jupyter # install jupyter \n\nAfter that, run jupyter notebook or ipython shell to test pcl installation. \n\nBuild \u0026 Test Status\n===================\n\nwindows(1.6.0/1.8.1/1.9.1)\n\n    .. image:: https://ci.appveyor.com/api/projects/status/w52fee7j22q211cm/branch/master?svg=true\n        :target: https://ci.appveyor.com/project/Sirokujira/python-pcl-iju42\n\nMac OSX(1.9.1)/Ubuntu16.04(1.7.2)\n\n    .. image:: https://travis-ci.org/strawlab/python-pcl.svg?branch=master\n        :target: https://travis-ci.org/strawlab/python-pcl\n\n\nA note about types\n------------------\n\nPoint Cloud is a heavily templated API, and consequently mapping this into\nPython using Cython is challenging. \n\nIt is written in Cython, and implements enough hard bits of the API\n(from Cythons perspective, i.e the template/smart_ptr bits)  to\nprovide a foundation for someone wishing to carry on.\n\n\nAPI Documentation\n=================\n\n`Read the docs \u003chttps://python-pcl-fork.readthedocs.io/en/latest/\u003e`_.\n\nFor deficiencies in this documentation, please consult the\n`PCL API docs \u003chttp://docs.pointclouds.org/trunk/index.html\u003e`_, and the\n`PCL tutorials \u003chttp://pointclouds.org/documentation/tutorials/\u003e`_.\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstrawlab%2Fpython-pcl","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstrawlab%2Fpython-pcl","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstrawlab%2Fpython-pcl/lists"}