Despite being the go-to library for point cloud based computation, PCL can cause some friction to users due to its old-fashioned and sometimes inconsistent API and the lack of certain features. This proposal aims to introduce the following new features to the PCL library;

  • GPU implementation of Iterative Closest Point (ICP) algorithm
  • Implementation of Fast Resampling of 3D Point Clouds via Graphs

As well as to refactor and modernize the library by means of;

  • Introducing better type for point indices, thereby providing support for larger point clouds
  • Introducing a fluent API for algorithms
  • Modernising the GPU Octree module to align with the it’s CPU counterpart



Haritha Jayasinghe


  • Sérgio Agostinho
  • Lars Glud