PclExtension.md

RGL PCL extension

The extension introduces the nodes and functions for point cloud processing. RGL features are enhanced with the following:

• Downsampling
• Writing to PCD file
• Visualization

For operations listed above, the extension uses Point Cloud Library.

Building

Before building RGL PCL extension, it is necessary to install the required dependencies. Run setup.py --install-pcl-deps to get them. It could take some time (Point Cloud Library is built from source):

# Linux:
./setup.py --install-pcl-deps
# Windows:
python setup.py --install-pcl-deps

To build RGL with PCL extension, run the setup script with --with-pcl:

# Linux:
./setup.py --with-pcl
# Windows:
python setup.py --with-pcl

API documentation

More details can be found here.