News Articles

Presentation at Smart Libraries for Computer Graphics

Federico Tombari and Alex Ichim will be representing PCL at the Smart Libraries for Computer Graphics event organized by the Eurographics Italian Chapter. They will be giving a talk on the PCL modules, with a focus on registration.

Other famous open source libraries will show off their work: EigenVCGLibSpiderGL, g2o, MeshLab

For more information, check out the event website: http://www.cglibs.org

SwRI and NIST sponsor a new PCL code sprint

The Southwest Research Institute (SwRI) and National Institute of Standards and Technology (NIST) are sponsoring a new PCL code sprint! The efforts will be focused on developing algorithms for human detection and tracking, out of 2D camera imagery fused with 3D point cloud data (coming from ASUS XtionPRO cameras).

Interested candidates should submit the following information to jobs@pointclouds.org:

  • a brief resume
  • a list of existing PCL contributions (if any)
  • a list of projects (emphasis on open source projects please) that they contributed to in the past

This project requires good C++ programming skills, and knowledge of PCL internals.

3 new code sprints from Toyota and Open Perception

Toyota has been a long term supporter of PCL, and pretty much created the concept of code sprints for PCL, with the first PCL code sprint ever: TOCS! This year, we have partnered with our colleagues from Toyota again for a series of 3 new exciting code sprint projects:

  • Primitive shape (cylinders, spheres, cones, etc.) recognition in point cloud data
  • Segmentation/Clustering of objects in cluttered environments
  • 3D feature development and benchmarking

PCL-TOCS(#2) will run for 3 months during the spring of 2013. As always, interested candidates should submit the following information to jobs@pointclouds.org:

  • a brief resume
  • a list of existing PCL contributions (if any)
  • a list of projects (emphasis on open source projects please) that they contributed to in the past

This project requires good C++ programming skills, and knowledge of PCL internals.

Spectrolab PCL code sprint

It is our pleasure to announce a new code sprint from our host organization, Open Perception, and Spectrolab, a Boeing company. Spectrolab has expressed interest in connection with the potential possibilities that PCL offers, and we will be searching for outstanding candidates to participate in a new code sprint that involves the development of 3D Viewer Software in PCL, as well as an advanced sensor grabber for Spectrolab's SpectroScan3D LIDAR imager.

The sprint will run for 3 months in the spring of 2013. Potential candidates should submit the following information to jobs@pointclouds.org:

  • a brief resume
  • a list of existing PCL contributions (if any)
  • a list of projects (emphasis on open source projects please) that they contributed to in the past

This project requires good C++ programming skills, knowledge of PCL internals and a basic understanding of laser sensors and 3D visualization.

Basic PCD Matlab interface available

A simple interface to MATLAB is available at 
 
 
It includes pure MATLAB code to read and write unorganized point clouds as PCD files and a wrapper function for point cloud visualization that writes the MATLAB data to a temporary file and sets pcl_viewer loose on it.  Using files is inelegant and inefficient, but we sidestep the whole problem of trying to create MEX files linked to PCL.
 
This is a work in progress and things to add are writing binary PCD; reading/writing binary_compressed formatted files; handling organized data.
 
 

New code sprints from Honda Research Institute

After a successful first code sprint with HRI, it is our pleasure to announce the beginning of 4 new projects:

  1. labeling outdoor pedestrian and car data as ground truth (2 months)
  2. fast 3D cluster recognition of pedestrians and cars in uncluttered scenes (3 months)
  3. part-based 3D recognition of pedestrians and cars in cluttered scenes (6 months)
  4. stereo-based road area detection (2 months)

Please see the previous HRCS sprint announcement for more information. PCL-HRCS will run for 3-6 months during Q1 2013. Interested candidates should submit the following information to jobs@pointclouds.org:

  • a brief resume
  • a list of existing PCL contributions (if any)
  • a list of projects (emphasis on open source projects please) that they contributed to in the past

This project requires good C++ programming skills, and knowledge of PCL internals.

Python bindings for the Point Cloud Library

We are proud to to announce the release of python-pcl Python bindings for PCL.

Now you can use the power and performance of PCL from the comfort of Python. Currently the following features of PCL, using PointXYZ point clouds, are available;

  • I/O and integration; saving and loading PCD files
  • segmentation
  • sample consensus model fittting (RANSAC + others, cylinders, planes, common geometry)
  • smoothing (median least squares)
  • filtering (voxel grid downsampling, passthrough, statistical outlier removal)
  • exporting, importing and analysing pointclouds with numpy

An simple demonstration showing the statistical outlier filter:

import pcl
p = pcl.PointCloud()
p.from_file("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")

For a more complete example showing how to combine filtering, plane and cylinder segmentation (the code used to generate the logo above), see this example.

For more information please see the examples, tests,…

Leica Geosystems partnership

 

It is our immense pleasure to announce the beginning of a new partnership between Open Perception and Leica Geosystems, and a series of new code sprints: PCL-LGSCS!

We are looking for talented contributors that are willing to develop open source efficient compression mechanisms for organized and unorganized 3D point cloud data in two separate code sprint projects. In both cases, the ultimate goal is to achieve as much compression as possible, but we will require an analysis with respect to the de/compression speed that can be obtained. A requirement is to be able to process a few million points per second on a standard laptop. In addition we will analyze and compare different lossy vs lossless compression techniques.

The data sources are variate, from terrestrial to mobile and aerial point clouds. Besides XYZ coordinates we expect the datasets to contain an additional intensity and/or color per point. Each dataset will contain standard meta information, and in the case of lossy compression, we will need to specify certain error limits to be satisfied.

The organized data format consists of a series…

Point Cloud Data Sets

PCL has a nice data repository, that contains point clouds in the PCD format, which can be easily read using PCL tools. However, there are many other sites with free downloadable data (in various formats). The following is a short list of such sites containing links to data that is free to use for educational work; for other purposes you should see licenses for detail. Also, if you wish to add to this list feel free to submit to the forum or email me directly (hielsber).


  - Robotic 3D Scan Repository
  - Radish: The Robotics Data Set Repository
  - Canadian Planetary Emulation Terrain 3D Mapping Dataset
  -



PCL Happy New Year!

Happy New Year fellow PCL-ers! We are proud to announce that 1.7 years after our launch as a stand-alone project, we boast impressive stats:

  • more than 100 million hits on our domains
  • more than half a million unique visitors
  • more than 500 contributors and developers

The last year was also marked by the launch of our non-profit foundation: Open Perception. This allows us to make it easy for our developers to get paid for their awesome work in the field of open-source 3D perception. As PCL is gathering more and more attention in the worlds of computer vision, robotics and digital entertainment, we are being flooded with projects and full-fledged job offers for our community. These offers come in three flavors:

  • code sprints - 1 to 6 month paid jobs that you can do from the comfort of your home/school, for which a company sponsors you to work on open-source development for a project of their interest. (Developer blog)
  • actual full-time jobs and internships in companies that are collaborating with PCL/OP and/or using PCL in their products, and would like to hire experts from the community. (Jobs page)
  • invitation-based projects that are not publicly…

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