External dependency: PCL

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Dependency: PCL

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The PointCloud library (PCL) is optinal for building MRPT. If available, it will provide the following functionality:

• The library mrpt-pbmap cannot be compiled without PCL.
• rawlog-edit program: The –generate-pcd command.
• In point map classes:
  • mrpt::slam::CPointsMap::getPCLPointCloud() (*)
  • mrpt::slam::CPointsMap::setFromPCLPointCloud() (*)
  • mrpt::slam::CColouredPointsMap::getPCLPointCloudRGB() (*)
  • mrpt::slam::CPointsMap::savePCDFile()
  • mrpt::slam::CPointsMap::loadPCDFile()
• In mrpt::slam::CObservation3DRangeScan (observations from 3D cameras, e.g. Kinect):
  • mrpt::slam::CObservation3DRangeScan::project3DPointsFromDepthImageInto() (*)
• Read also: "Generating 3D point clouds from RGB+D observations".

Note: (*) means that the functionality is header-only. This means that will be available even if MRPT is built without PCL, but the user program includes both PCL and MRPT headers.