Introduction

The Point Cloud Library (PCL) is a stand-alone C++ library for 3D point cloud processing. You can learn more about PCL by visiting its website, pointclouds.org. The documentation on ROS.org will help you get started using PCL in your ROS applications.

In particular, if you're just getting started with PCL in ROS, we encourage you to make use of the following resources:

• Tutorials - Try out a few examples to get an idea of what PCL can do.

• API documentation - Browse the online API reference to find information about PCL's various classes and functions.

• Mailing list - If you need help, just ask! PCL has a great user community, with lots of people willing to help answer any questions you might have.

For new users of PCL, those resources will provide you with most of the information you'll need to get familiar with the library. Additional information pertaining to using PCL in your ROS applications can be found here on this wiki.

Using PCL in ROS

For information about how to use PCL's ROS-specific data types and how to publish and subscribe to point cloud data, please consult the PCL/ROS overview.

Tutorials

You can find numerous code examples on PCL's tutorials page.

For examples of how to include PCL code in a ROS node, please refer to the Tutorials page.

Documentation

For a reference guide to PCL's ROS-specific APIs, see the API documentation for the pcl_ros package.