PCL (PointCloudLibrary) C# wrapper. Contributions are welcome!
Pcl.NET is a simpe C# wrapper over the huge PointCloudLibrary. It is designed to be simple to use but to keep it as similar as possibile to the usage of the original C++ PCL. It was inspired by the existing PclSharp but insted of using code generators everything is coded. This choice was made in order to have a higher degree of flexibility and to make it possible to modify and improve it in a simpler way, even if more code has to be written. Right now a lot of stuff is missing but it is already in an usable state.
> dotnet add package PclNET
using Pcl.NET;
static void Main(string[] args)
{
// Loading a pcd from file
using PointCloudXYZ cloud = PointCloudXYZ.Load(@"\path\to\pointcloud.pcd");
// Iterating through points
foreach (var point in cloud.Points)
{
Console.WriteLine($"X: {point.X}, Y: {point.Y}, Z: {point.Z}");
}
// Adding points to point cloud
cloud.Add(new PointXYZ(1, 2, 3));
// Saving point cloud in binary format
cloud.Save(@"\path\to\output_pointcloud_binary.pcd");
// Saving point cloud in ascii format
cloud.Save(@"\path\to\output_pointcloud_ascii.pcd", true);
}Alessandro Fici
TODO
This project is licensed under the MIT License - see the LICENSE.md file for details