PclSharp

Point Cloud Library P/Invoke binding for C#

This project is a fork of the original PclSharp repository.

Updates in this Fork

• Updated to compile successfully with Visual Studio 2022
• Added fixes for compatibility with modern toolchains
• Implemented missing features and improvements for ICP (Iterative Closest Point) functionality
• General stability and build fixes

Original Notes

The original project used C# 7 features and required Visual Studio 2017 to build.
This fork removes those limitations and supports newer development environments.

Installing via NuGet (Team)

PclSharp is distributed via the Newocean private NuGet feed as two packages:

Package	Description
PclSharp	C# managed library (.NET 4.8)
PclSharp.Runtime.x64	Native x64 DLLs (auto-installed as dependency)

Install PclSharp only — the runtime package is pulled in automatically.

1. Add the private feed

In Visual Studio, go to Tools → NuGet Package Manager → Package Sources, click + and set:

• Name: Newocean
• Source: ask your team lead for the feed URL

Click Update, then OK.

2. Install the package

Install-Package PclSharp -Version 1.0.0 -Source Newocean

Or use the Visual Studio Package Manager UI, selecting the Newocean source.

3. Set your project to x64

The native DLLs are x64-only. In your .csproj:

<PlatformTarget>x64</PlatformTarget>

For full details — building new versions, publishing, and troubleshooting — see docs/NuGet-Package-Usage.md.

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If you encounter issues or want to contribute improvements, feel free to open an issue or pull request.