Point Cloud Library 1.9.1 has been released

Point Cloud Library 1.9.1

PCL 1.9.1 has been released.

What’s New?

PCL 1.9.1 contains many bug fixes. Please see ChangeList for details.

We implemented CI for Windows, Linux, and Mac environments on Azure Pipelines. All commits are built and tested.
Also, The CMake minimum required version is CMake 3.1 from PCL 1.9.1. Please update CMake on your emvironment.

What is it?

The features are contained in the PCL as follows.

  • filters
  • fuatures
  • keypoints
  • registration
  • kdtree
  • octree
  • segmentation
  • sample consensus
  • surface
  • range image
  • io
  • visualization


Development Environment

PCL supported OS is Linux, Windows, MacOS X, and other.
Supported development language is C++ and Python.
PCL use internally main dependent libraries (3rdParty) is as follows.*1


  • Boost (C ++ Semi Standard Library)
  • Eigen (Matrix Library)
  • FLANN (Nearest Neighbor Search Library)
  • VTK (Visualization Library)


*1 In addition, depends on other 3rdParty by function. Qt (GUI Library), CUDA (GPU Development Environment), PCAP (Packet Capture), GLUT (OpenGL Utility Toolkit), GLEW (OpenGL Extension Library), etc.

Download Installer

“PCL All-in-one Installer” is includes pre-built libraries of PCL and 3rdParty.
You can download from the following link.
Please install PCL and 3rdParty by using the downloaded installer.

2018/11/06 Release Installer (PCL 1.9.1, Boost 1.68.0, Eigen 3.3.5, FLANN 1.9.1, VTK 8.1.2 (OpenGL backend), QHull 2015.2, OpenNI Beta)

Visual Studio 2017

Set Environment Variables

Please set as following the environment variables of system and re-boot your system.

Variable Name Value
PCL_ROOT C:\Program Files\PCL 1.9.1 (or C:\Program Files (x86)\PCL 1.9.1)
Path ;%PCL_ROOT%\bin

Generate Your Own Project using CMake

I strongly recommend that to generate project using CMake.*2
Please refer to following documents about How to use CMake and CMakeLists.
In Addition, Please refer to basic CMakeLists for using PCL.

*2 I recommend that to use CMake 3.8.0 or later.

How to use CMake?

How to write CMakeLists?

Basic CMakeLists for PCL

  • Basic CMakeLists.txt for PCL
  • cmake_minimum_required( VERSION 2.8 )
    # Create Project
    project( solution )
    add_executable( project main.cpp )
    set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )
    # Find Packages
    find_package( PCL 1.9 REQUIRED )
    if( PCL_FOUND )
      # Additional Include Directories
      # [C/C++]>[General]>[Additional Include Directories]
      include_directories( ${PCL_INCLUDE_DIRS} )
      # Preprocessor Definitions
      # [C/C++]>[Preprocessor]>[Preprocessor Definitions]
      add_definitions( ${PCL_DEFINITIONS} )
      #add_definitions( -DPCL_NO_PRECOMPILE )
      # Additional Library Directories
      # [Linker]>[General]>[Additional Library Directories]
      link_directories( ${PCL_LIBRARY_DIRS} )
      # Additional Dependencies
      # [Linker]>[Input]>[Additional Dependencies]
      target_link_libraries( project ${PCL_LIBRARIES} )

How to Build Libraries (PCL 1.9.1 and 3rdParty) from Source Code yourself

In many cases, You can use the All-in-one Installer for using PCL.
But, If you want to enable other options or use other compilers, You need to build PCL and 3rdParty yourself.

I will publish the notes of how to build PCL 1.9.1 and latest version 3rdParty.
Please refer to this Notes who want to build the libraries (PCL 1.9.1 and 3rdParty) yourself.

3rdParty Build Notes

PCL Build Note

How to Contribution (issue report, send pull request) and Question?

If you find a bug, you can reported to issues of GirHub.
If you can be fixed bug, you can send pull requests to GitHub repository.

And, If you have any questions, you can post to the PCL Users mailing list.
Please attach the following information in these reports. It will help to resolve your problem.
(You need to tell the appropriate information to resolve your problem.)

  • Error Code and Message
  • Adequate and Simple Source Code for Reproduce or Tutorial URL (e.g. source code sharing service URL like gist)
  • CMake Cache (<CMAKE_BINARY_DIR>CMakeCache.txt) *IMPORTANT
  • CMake Logs (<CMAKE_BINARY_DIR>CMakeFilesCMakeOutput.log)
  • PCL Version (or Commit Hash)
  • Target Compiler and Configure (e.g. “Visual C++ 2017, Release|x64”)
  • Operating System (e.g. “Windows 10 Pro (update 1703) 64bit”)

3 thoughts on “Point Cloud Library 1.9.1 has been released”

  1. Hi,
    I have installed using this (PCL 1.9.1 All-in-one Installer MSVC2017 x64).
    Now trying to include “QVTKWidget.h” file, but it’s not found.

    I have search inside all the installed folder but I didn’t find it anywhere?
    Where I can find it? or does it has any other name for this version?

    Thanks in advanced!

  2. Could you explain what to do with the .pdb files. Do the symbol files just need to be linked in the properties section of visual studio?


  3. Hi I’ve followed the instructions for downloading the 32 bit version, and am now trying to generate the example project with CMake, but just get this error:

    ‘Could not find a package configuration file provided by “PCL” (requested
    version 1.3) with any of the following names:


    Add the installation prefix of “PCL” to CMAKE_PREFIX_PATH or set “PCL_DIR” to a directory containing one of the above files. If “PCL” provides a separate development package or SDK, be sure it has been installed.’

    I cant find either of these files in the installation directories. Do I need to install the debug too?

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