PCL changelog

Changelog History

Page 1

• v1.12.0 Changes

  PCL 1.12.0 enables custom index size and type, from int16_t to uint64_t, allowing 👉 users to have as small or large clouds as they wish. 1.12 also comes with improved 👌 support for VTK and CUDA, along with making existing functionality more user friendly.

  🐎 This is all on top of the usual bug-fixes and performance improvements across the board

  Notable changes

  🆕 New features added to PCL

  • [sample_consensus] Add SIMD implementations to some countWithinDistance functions [#3519]
  • [io] Enable Real Sense 2 grabber for all platforms [#4471]
  • [visualization] add ellipsoid shape to pcl_visualizer [#4531]
  • [common] Add constexpr to static member functions for point types, add macro for if constexpr [#4735]
  • [ci] Use windows docker image in CI. [#4426]
  • [common] Add pcl log stream macros [#4595]

  🗄 Deprecation of public APIs, scheduled to be removed after two minor releases

  • [common] Modify index type for vertices [#4256]
  • [gpu] Add square distances to GPU knnSearch API [#4322]
  • [gpu] Add square distances to ApproxNearestSearch [#4340]
  • 🗄 Deprecate unused ease-of-internal-use headers [#4367]
  • [registration] Deprecate TransformationEstimationDQ in favor of TransformationEstimationDualQuaternion [#4425]
  • [segmentation] Deprecate unused max_label in extractLabeledEuclideanClusters [#4105]
  • [surface] MLS: correct typo in principle by using principal instead [#4505]
  • 🗄 Deprecate unneeded meta-headers [#4628]
  • [apps][tracking] pyramidal klt: switch keypoints_status_ to int vector [#4681]
  • 🚚 Properly remove remaining items deprecated for version 1.12, deprecate uniform_sampling.h [#4688]
  • [recognition] Add deprecation for incorrectly installed headers [#4650]

  Removal of the public APIs deprecated in previous releases

  • ✂ Remove deprecated items as scheduled in preparation of v1.12 (except concatenatePointCloud) [#4341]
  • [apps] Remove unused code in persistence_utils.h [#4500]
  • 🚚 Properly remove remaining items deprecated for version 1.12, deprecate uniform_sampling.h [#4688]

  Behavior changes in classes, apps, or tools

  • [registration] Don't move, or copy ICP [#4167]
  • [common] Fix PointXYZRGBA ctor, set A as 255 by default [#4799]

  API changes that did not go through the proper deprecation and removal cycle

  • [common] modify index type for PCLImage [#4257]
  • [registration] Don't move, or copy ICP [#4167]
  • [kdtree] KdTree: handle 0 or negative k for nearestKSearch [#4430]
  • [common] Use std::array instead of C-array for ColorLUT [#4489]
  • [tracking] Use SFINAE instead of relying on macro PCL_TRACKING_NORMAL_SUPPORTED [#4643]
  • [gpu] Export and template extract clusters [#4196]
  • [common] Added namespace pcl to free functions: aligned_{malloc/free} [#4742]

  ABI changes that are still API compatible

  • [registration] Refactoring and Bugfix of NDT [#4180]
  • [common] modify index types for PCLPointCloud2 [#4199]
  • [common] Modify index type for vertices [#4256]
  • [common] Modify index type for PCLPointField [#4228]
  • [surface] Enabled multithreading in Poisson surface reconstruction [#4332]
  • [io] Allow file_io to read large point clouds depending on PCL config [#4331]
  • [sample_consensus] Allow user to apply arbitrary constraint on models in sample consensus [#4260]
  • [tracking] Use SFINAE instead of relying on macro PCL_TRACKING_NORMAL_SUPPORTED [#4643]
  • [features] Move the init of static variables to library load time [#4640]
  • [octree] Octree2BufBase: Fix bug that contents from previous buffer appear in current buffer [#4642]

  🔄 Changes grouped by module

  CMake:

  • Update pcl_find_boost to allow compilation with Boost 1.74 [#4330]
  • Variable needs to be expanded when checking for EXT_DEPS [#4353]
  • Update pcl_find_cuda.cmake to contain all supported architectures [#4400]
  • ➕ Add support for VTK 9 [#4262]
  • 🔨 Refactor cmake find script of libusb [#4483]
  • ➕ Add AVX for windows [#4598]
  • ➕ Add SSE definitions for SSE 4.1 and 4.2 [#4596]

  libpcl_common:

  • [ABI break] modify index types for PCLPointCloud2 [#4199]
  • [API break] modify index type for PCLImage [#4257]
  • 🗄 [ABI break][deprecation] Modify index type for vertices [#4256]
  • [ABI break] Modify index type for PCLPointField [#4228]
  • 👍 Allow PCL_DEPRECATED to detect and help remove deprecations before release [#4336]
  • 👍 Allow conversion of PointCloud with more than 32-bit size rows/columns [#4343]
  • 👌 Improve routing for transformPointCloud [#4398]
  • Correct typo in transformPlane [#4396]
  • [API break] Use std::array instead of C-array for ColorLUT [#4489]
  • Set header in two toPCLPointCloud2 functions [#4538]
  • ➕ Add more operators to PointCloud to prevent perf regression in refactoring [#4397]
  • 👉 Make sure that organized point clouds are still organized after transformPointCloud [#4488]
  • [API break] Added namespace pcl to free functions: aligned_{malloc/free} [#4742]
  • [new feature] Add constexpr to static member functions for point types, add macro for if constexpr [#4735]
  • 🛠 Fix PolygonMesh::concatenate and its unit test [#4745]
  • [behavior change] Fix PointXYZRGBA ctor, set A as 255 by default [#4799]
  • ✂ Remove pseudo-template-instantiations in eigen.h to reduce compilation time [#4788]
  • [new feature] Add pcl log stream macros [#4595]

  libpcl_features:

  • [ABI break] Move the init of static variables to library load time [#4640]
  • 👉 Use correct cloud for checking finite-ness in fpfh [#4720]

  libpcl_filters:

  • 👌 Improve performance of median filter by using nth_element [#4360]
  • 🛠 Fix the covariance calculation as suggested by @zxd123 [#4466]
  • Filters: fix wrong initialization of covariance in VoxelGridCovariance [#4556]
  • 🛠 Fix application of setMinimumPointsNumberPerVoxel for PCLPointCloud2 implementation of VoxelGrid [#4389]
  • ➕ Adding tests for CropHull and using hull_cloud instead of input in getHullCloudRange [#3976]

  libpcl_gpu:

  • 🗄 [deprecation] Add square distances to GPU knnSearch API [#4322]
  • 🗄 [deprecation] Add square distances to ApproxNearestSearch [#4340]
  • [API break] Export and template extract clusters [#4196]
  • ⚡️ Update support for CUDA arch in CMake and convertSMVer2Cores [#4748]
  • ➕ Add ability to download contiguous chunk of memory to host using Device{Array,Memory} [#4741]
  • Speeding up GPU clustering using smarter download strategy and memory allocations [#4677]

  libpcl_io:

  • [ABI break] Allow file_io to read large point clouds depending on PCL config [#4331]
  • 👌 Improve PCD read performance (more than 50%) by reusing istringstream [#4339]
  • [new feature] Enable Real Sense 2 grabber for all platforms [#4471]
  • Throw error if the device bluffs about its capability [#4141]
  • 🛠 Fix crash in Dinast Grabber due to bad initialization of device handle [#4484]
  • PLY face definition accepts uint fields as well [#4492]
  • Prevent segfault in vtk2mesh [#4581]
  • 👻 Prevent exception in PCDReader for misformed PCD files [#4566]
  • Enable arbitary size Indices for Octree module [#4350]
  • 🛠 Fix addition of Carriage Return to PCD files. [#4727]
  • 👌 Support Ensenso SDK 3.0 for ensenso_grabber [#4751]
  • Specify no face elements in PLY files (from point cloud) to make them interoperable with VTK [#4774]

  libpcl_kdtree:

  • [API break] KdTree: handle 0 or negative k for nearestKSearch [#4430]

  libpcl_ml:

  • 🛠 Fix un-initialized centroids bug (k-means) [#4570]

  libpcl_octree:

  • Enable arbitary size Indices for Octree module [#4350]
  • 🛠 Fix problems in octree search functions when using dynamic depth [#4657]
  • [ABI break] Octree2BufBase: Fix bug that contents from previous buffer appear in current buffer [#4642]

  libpcl_outofcore:

  • 🛠 Fix compile issue due to missing include under MSVC 2019 [#4755]

  libpcl_recognition:

  • 🗄 [deprecation] Add deprecation for incorrectly installed headers [#4650]

  libpcl_registration:

  • [ABI break] Refactoring and Bugfix of NDT [#4180]
  • [API break][behavior change] Don't move, or copy ICP [#4167]
  • 🗄 [deprecation] Deprecate TransformationEstimationDQ in favor of TransformationEstimationDualQuaternion [#4425]
  • 🛠 Fix force no recompute [#4535]
  • Skip non-finite points for Pyramid Feature Matching [#4711]

  libpcl_sample_consensus:

  • [ABI break] Allow user to apply arbitrary constraint on models in sample consensus [#4260]
  • 👌 Improve logging errors during sample consensus model registration [#4381]
  • [new feature] Add SIMD implementations to some countWithinDistance functions [#3519]
  • Faster sample consensus functions [#4424]
  • 🛠 Fix and improve MLESAC [#4575]
  • 👌 Improve logging in module sample_consensus [#4261]

  libpcl_search:

  • Faster organized search [#4496]
  • ➕ Add access to boxSearch [#4282]

  libpcl_segmentation:

  • 🗄 [deprecation] Deprecate unused max_label in extractLabeledEuclideanClusters [#4105]
  • 🛠 Fix the dotproduct calculation in extractEuclideanClusters for smooth surfaces [#4162]
  • 👉 Make euclidean clustering with normals faster [#4551]

  libpcl_surface:

  • [ABI break] Enabled multithreading in Poisson surface reconstruction [#4332]
  • ➕ Add stdlib header for malloc in poisson (bugfix for gcc-5) [#4376]
  • ⚡️ Always update counter and prevent overflow access in poisson4 octree [#4316]
  • Add missing include to nurbs_solve_umfpack.cpp [#4571]
  • 🗄 [deprecation] MLS: correct typo in principle by using principal instead [#4505]

  libpcl_visualization:

  • ➕ Add support for VTK 9 [#4262]
  • [new feature] add ellipsoid shape to pcl_visualizer [#4531]

  PCL Apps:

  • [removal] Remove unused code in persistence_utils.h [#4500]
  • 🗄 [deprecation] pyramidal klt: switch keypoints_status_ to int vector [#4681]

  📄 PCL Docs:

  • 📚 Update documentation to be coherent with the style guide [#4771]

  PCL Tutorials:

  • 🚚 Replace PassThrough with removeNaNFromPointCloud in 3 tutorials [#4760]

  PCL Tools:

  • 🛠 Fix virtual scanner [#4730]

  CI:

  • 🏁 Make windows build on c:\ drive to fix out-of-disk-space errors [#4382]
  • [new feature] Use windows docker image in CI. [#4426]

• v1.11.1 Changes

  August 14, 2020

  🛠 Apart from the usual serving of bug-fixes and speed improvements, PCL 1.11.1 brings in 👍 better support for CUDA, more uniform behavior in code as well as cmake, and an experimental feature: functor_filter.

  Notable changes

  🆕 New features added to PCL

  • [ci] Add support for CUDA in CI [#4101]
  • [common] Add always-unsigned index type uindex_t dependent on index_t [#4205]
  • [filters] Add a filter accepting a functor to reduce boiler plate code for simple filters [#3890]

  🔄 Changes grouped by module

  CMake:

  • Update pcl_find_boost to allow compilation with Boost 1.73 and 1.72 [#4080]
  • 🛠 Fix NSIS Template for NSIS3 [#4093]
  • ➕ Add option to choose pcl::index_t while compiling [#4166]
  • 🛠 Fix name warnings for PCAP, libusb and Ensenso. [#4182]
  • 🛠 Fixes compile error on MSVC by disabling Whole Program Optimization [#4197]

  libpcl_common:

  • ✂ Remove use of dynamic allocation in GaussianKernel::convolve{Rows,Cols} [#4092]
  • Replace usage of std::vector<int> with Indices [#3989]
  • ⚡️ Update PointCloud to conform to requirements of ReversibleContainer [#3980]
  • [new feature] Add always-unsigned index type uindex_t dependent on index_t [#4205]
  • ➕ Adding data member function to PointCloud [#4216]
  • Switch int to index_t for field index variables in pclBase, add pcl::UNAVAILABLE for same [#4211]
  • ➕ Added resize with 2 arguments to PointCloud [#4225]
  • ➕ Adding max_size to PointCloud [#4254]
  • 👌 Support multiple arguments in pcl::utils::ignore() [#4269]

  libpcl_features:

  • 🛠 Fix feature histogram constructor bug [#4234]
  • 🛠 Fix regression in Organized Edge Detection (introduced in PCL 1.10.1) [#4311]

  libpcl_filters:

  • ⬇️ reduce computations involved in iterating over the pointcloud for FastBilateral{OMP} [#4134]
  • [new feature] Add a filter accepting a functor to reduce boiler plate code for simple filters [#3890]
  • Refatoring VoxelGridCovariance to make it multi-thread safe (and more) [#4251]

  libpcl_gpu:

  • Replace volatile shared memory with shfl_sync in KNNSearch [#4306]
  • 🛠 Fix octree radiusSearch [#4146]

  libpcl_io:

  • 👍 Better conversion of depth data + focal length into X,Y,Z point data [#4128]
  • ➕ Add iterator include for back_iterator to support VS2019 [#4319]

  libpcl_outofcore:

  • Fix compile issue in OutofcoreOctreeBase::setLODFilter after switching from boost::shared_ptr to std::shared_ptr [#4081]

  libpcl_registration:

  • 🛠 Fix bug in NDT step interval convergence criteria [#4181]

  libpcl_segmentation:

  • Clean FLANN includes [#4025]
  • ⚡️ Update angle between 2 planes to be the smallest angle between them [#4161]

  libpcl_simulation:

  • Don't prefix in shaders. [#4209]

  libpcl_visualization:

  • 🛠 Fix error: misplaced deprecation attributes in vtkVertexBufferObject{,Mapper} [#4079]

  📄 PCL Docs:

  • Fix typo in FPFH documentation, $$p_k$$ was used instead of $$p_i$$ [#4112]
  • 🛠 Fix typos in PFH estimation tutorial [#4111]

  CI:

  • [new feature] Add support for CUDA in CI [#4101]

• v1.11.1-rc2 Changes

  August 13, 2020

  🛠 PCL 1.11.1 brings in new bug fixes and improvements such as

  • Increasing coverage of index_t for allowing std::int64_t as indices
  • Increased conformance to std::vector API for PointCloud
  • Speed improvements, thread safety and a new flexible experimental filter

  🗄 For an exhaustive list of newly added features, deprecations and other changes
  👀 in PCL 1.11.1, please see CHANGES.md.

  ⚡️ PS: Link wouldn't work since CHANGES.md isn't updated

• v1.11.1-rc1 Changes

  August 06, 2020

  🛠 PCL 1.11.1 brings in new bug fixes and improvements such as

  • Increasing coverage of index_t for allowing std::int64_t as indices
  • Increased conformance to std::vector API for PointCloud
  • Speed improvements, thread safety and a new flexible experimental filter

  🗄 For an exhaustive list of newly added features, deprecations and other changes
  👀 in PCL 1.11.1, please see CHANGES.md.

  ⚡️ PS: Link wouldn't work since CHANGES.md isn't updated

• v1.11.0 Changes

  May 11, 2020

  Starting with PCL 1.11, PCL uses std::shared_ptr and std::weak_ptr instead of the boost smart pointers. The change leverages type aliases included with the 1.10.0 🚀 release. PCL 1.11 also introduces pcl::index_t which should be used for the size 🗄 of point types instead of int, std::size_t, etc. EOL for deprecated features 🗄 is also explicitly mentioned in the deprecation compile time warnings

  Notable changes

  🆕 New features added to PCL

  • [common] Provide dynamic and static pointer casts in namespace pcl to allow easy migration in future [#3770]
  • [common] Add ignore function to remove Doxygen warnings for unused arguments [#3942]
  • 📄 [docs] Generate TODO list [#3937]
  • 👮 Force include order via clang-format [#3909]
  • 🔄 Change PCL smart pointers from boost to std [#3750]
  • [ci] Add pipeline for building PCL's environment docker image [#3843]

  🗄 Deprecation of public APIs, scheduled to be removed after two minor releases

  • [common] Remove #undef Success in pcl_macros.h by extracting PCL_MAKE_ALIGNED_OPERATOR_NEW into memory.h [#3654]
  • [common] Rename point_traits.h into type_traits.h [#3698]
  • [filters] Deprecating functions in non-speclialized Passthrough filter [#3888]
  • [outofcore][registration] Homogenize deprecation with PCL_DEPRECATED [#3925]
  • [cmake][visualization] Deprecate legacy OpenGL backend of VTK [#4065]

  Removal of the public APIs deprecated in previous releases

  • [io][recognition][tools] Remove very old deprecated headers [#3906]
  • 📄 [docs] Remove backup (and defunct) CMakeLists.txt [#3915]
  • Remove use of VTK_EXCLUDE_STRSTREAM_HEADERS (unavailable since VTK 6.0.0) [#3939]

  Behavior changes in classes, apps, or tools

  • [io] Make grabbers move-only using unique_ptr [#3626]

  API changes that did not go through the proper deprecation and removal cycle

  • [io] Make grabbers move-only using unique_ptr [#3626]
  • [common] Add pcl::index_t; move some type declarations from pcl/pcl_macros.h to pcl/types.h [#3651]
  • [filters] Clean up Filter and FilterIndices, move indices_/input_ from public to protected section [#3726]
  • [registration] Better Generalized ICP optimizer gradient check management [#3854]
  • 🔄 Change PCL smart pointers from boost to std [#3750]
  • [registration] Removing deprecated method setInputCloud from public API [#4026]

  ABI changes that are still API compatible

  • [filters] NormalSpaceSampling - fix bucket assignment, remove use of raw distribution pointer, unit-test rewriting [#3862]
  • [io] Add pcl::weak_ptr to have a single-switch move from boost:: to std:: weak pointers [#3753]

  🔄 Changes grouped by module

  CMake:

  • ➕ Add a stamp file to build documentation once [#3819]
  • 🛠 Fix compilation in OSX Catalina with OMP enabled [#3721]
  • 0️⃣ Show proper message in CMake config for default-off modules [#3927]
  • 🗄 [deprecation] Deprecate legacy OpenGL backend of VTK [#4065]

  libpcl_2d:

  • variable assigned a value which is never used [#3857]
  • 🛠 Fix issue with missing templating of Keypoint. Fixes coming from clang-doxy [#3898]

  libpcl_common:

  • 🗄 [deprecation] Remove #undef Success in pcl_macros.h by extracting PCL_MAKE_ALIGNED_OPERATOR_NEW into memory.h [#3654]
  • 🛠 Fix issues with math defines on mingw-w64. [#3756]
  • [API break] Add pcl::index_t; move some type declarations from pcl/pcl_macros.h to pcl/types.h [#3651]
  • 🗄 [deprecation] Rename point_traits.h into type_traits.h [#3698]
  • 👌 Improve PCL_DEPRECATED macro to include scheduled removal version [#3808]
  • 🛠 Fix erroneous PCL version in deprecated message [#3824]
  • Select OpenMP data sharing mode based on specific GCC versions [#3823]
  • Define PointIndices based on the global Indices type alias [#3822]
  • 🛠 Fix warning C4067: unexpected tokens following preprocessor directive- expected a newline [#3871]
  • [new feature] Provide dynamic and static pointer casts in namespace pcl to allow easy migration in future [#3770]
  • [new feature] Add ignore function to remove Doxygen warnings for unused arguments [#3942]
  • 🛠 Fix excessive warnings on MSVC [#3964]
  • 🔨 Refactoring PCL_DEPRECATED macro [#3945]
  • Correcting type mismatch [#3967]
  • ✂ Removed empty file [#4019]

  libpcl_filters:

  • Clean up code duplication in FilterIndices derived classes [#3807]
  • [API break] Clean up Filter and FilterIndices, move indices_/input_ from public to protected section [#3726]
  • 🗄 [deprecation] Deprecating functions in non-speclialized Passthrough filter [#3888]
  • [ABI break] NormalSpaceSampling - fix bucket assignment, remove use of raw distribution pointer, unit-test rewriting [#3862]
  • ⚡️ Optimize VoxelGrid Filter [#3853]
  • 🛠 Fix error due to multiple declarations of template member function specializations in convolution [#3971]

  libpcl_io:

  • [ABI break][API break][behavior change] Make grabbers move-only using unique_ptr [#3626]
  • [removal] Remove very old deprecated headers [#3906]
  • [ABI break] Add pcl::weak_ptr to have a single-switch move from boost:: to std:: weak pointers [#3753]
  • 👉 Use pcl::io::raw_read instead of direct call to POSIX function read [#4062]

  libpcl_octree:

  • 🛠 Fix a memory leak in OctreeBase::operator= [#3787]

  libpcl_outofcore:

  • 🗄 [deprecation] Homogenize deprecation with PCL_DEPRECATED [#3925]

  libpcl_people:

  • 🏁 Missing include on windows [#3791]

  libpcl_recognition:

  • [removal] Remove very old deprecated headers [#3906]

  libpcl_registration:

  • [API break] Better Generalized ICP optimizer gradient check management [#3854]
  • 🗄 [deprecation] Homogenize deprecation with PCL_DEPRECATED [#3925]
  • [API break] Removing deprecated method setInputCloud from public API [#4026]

  libpcl_sample_consensus:

  • 👍 Better performance, error handling and other improvements in SAC classes [#3642]
  • 👉 Use better types for indices: int -> index_t, std::vector<int> ->Indices [#3835]

  libpcl_search:

  • 👉 Use better types for indices: int -> index_t, std::vector<int> ->Indices [#3840]
  • ➕ Add include for pcl::isFinite for compilation on VS2019 [#4056]

  libpcl_segmentation:

  • Check and warn user about missing normals in OrganizedMultiPlaneSegmentation [#3861]

  libpcl_surface:

  • 🛠 Fix error due to multiple declarations of template member function specializations in Poisson4 [#3972]
  • ⬇️ Reduce time taken in TextureMapping::sortFacesByCamera from O(faces*points) to O(faces) [#3981]

  libpcl_visualization:

  • Minor fix for converting unorganized PointClouds to VTK data [#3988]
  • 🛠 Fixes #4001 and #3452. [#4017]
  • 🗄 [deprecation] Deprecate legacy OpenGL backend of VTK [#4065]
  • 🛠 Fix rendering of points. [#4067]

  📄 PCL Docs:

  • 🛠 Fix Doxygen warnings unrelated to documentation -- Part 1 [#3701]
  • ⚡️ update automatic code formatting info to clang-format [#3845]
  • replace formula with math [#3846]
  • 🛠 Fix PCL_DEPRECATED usage in doxygen for a proper Deprecation List in documentation [#3905]
  • [removal] Remove backup (and defunct) CMakeLists.txt [#3915]
  • [new feature] Generate TODO list [#3937]
  • 👌 Improve output to match the text in tutorial by adding a newline [#4029]
  • 🛠 Fix typo in region growing tutorial [#4052]
  • ➕ Add information regarding header include order [#4020]

  PCL Tutorials:

  • ➕ Add a unit test for ICP and modernize tutorial code [#3628]

  PCL Examples:

  • ✂ Remove unnecessary includes in examples [#4071]

  PCL Tools:

  • [removal] Remove very old deprecated headers [#3906]

  CI:

  • ✅ Temporary fix for skipping of certain tests [#3789]
  • 👷 Simplify Ubuntu CI using matrix strategy [#3783]
  • Strip leading tag in commit message from changelog [#3847]
  • Shift to clang-format-10 to resolve bug in clang-format-{7-9} [#3895]
  • [new feature] Add pipeline for building PCL's environment docker image [#3843]
  • 👌 Improve docker ci for other PRs [#4051]
  • ✂ Remove unused variables from exceptions [#4064]
  • 👷 Removing hardcoded version number from tutorial CI [#4058]

• v1.10.1 Changes

  March 19, 2020

  Notable changes

  🗄 Deprecation of public APIs, scheduled to be removed after two minor releases

  • [common] Deprecate several PointWithViewpoint ctors; make ctors more uniform in PCL point types [#3597]

  Removal of the public APIs deprecated in previous releases

  • [common] Remove deprecated checks for USE_ROS macro [#3690]

  Behavior changes in classes, apps, or tools

  • [tools] Continue on PCD load failure in pcl_train_linemod_template [#3652]

  🔄 Changes grouped by module

  CMake:

  • 🛠 Fix CMake grouping of tools targets [#3709]
  • Enable PCL_ONLY_CORE_POINT_TYPES in mingw builds [#3694]
  • ⬇️ Downgrade RSSDK2 warning message to status [#3683]
  • 🛠 Fix test targets arguments for MSVC [#3636]
  • ✂ Remove duplicate /bigobj for MSVC [#3604]

  libpcl_common:

  • Better PointType ctor and reduced warnings in register_point_struct.h [#3732]
  • [removal] Remove deprecated checks for USE_ROS macro [#3690]
  • Replace dirent with boost::filesystem [#3676]
  • 🛠 Fix code accidentally casting away const-ness [#3648]
  • 🛠 Fix compilation of CUDA code on Windows [#3634]
  • ✂ Remove undefined behavior and add stricter checks in console arg parsing [#3613]
  • 🗄 [deprecation] Deprecate several PointWithViewpoint ctors; make ctors more uniform in PCL point types [#3597]

  libpcl_cuda:

  • 🛠 Fix memory leaks in CUDA apps [#3587]
  • 🛠 Fix compilation of CUDA/GPU modules [#3576]

  libpcl_features:

  • ➕ Add precompiled computeApproximateCovariances; fix compilation error for the same [#3711]
  • 🛠 Fix vector initialization in NormalEstimationOMP [#3614]
  • 🛠 Fix indexing bug in IntegralImageNormalEstimation [#3574]

  libpcl_filters:

  • 🚚 Set is_dense based on actual cloud contents in removeNaNNormalsFromPointCloud() [#3685]

  libpcl_gpu:

  • 🛠 Fix compile error in KinFuLS initRegistration [#3737]
  • 🛠 Fix illegal memory acces in CUDA Octree builder [#3627]
  • 🛠 Fix compile issue in people_app [#3618]
  • 🛠 Fix compilation of CUDA/GPU modules [#3576]

  libpcl_io:

  • 🛠 Fix if/ifdef WIN32 issues [#3668]
  • ➕ Add Grabber::toggle() method [#3615]
  • Close the correct file in pcl::io::savePLYFileBinary [#3601]
  • 🛠 Fix entropy range encoding in octree-based pointcloud compression [#3579]

  libpcl_surface:

  • ➕ Add default initialization of grid resolution in MarchingCubes [#3718]

  PCL Apps:

  • 🛠 Fix if/ifdef WIN32 issues [#3668]

  📄 PCL Docs:

  • 🛠 Fix missing standard includes, reduce warnings in doxygen-enabled builds [#3755]

  PCL Tutorials:

  • 🛠 Fix documentation for point cloud stream compression executable name [#3693]
  • 🛠 Fix segfault in NARF keypoint extraction tutorial [#3623]

  PCL Tools:

  • 👉 Use linemod member method to save templates [#3691]
  • [behavior change] Continue on PCD load failure in pcl_train_linemod_template [#3652]
  • Warn user about unorganized PCDs in pcl_train_linemod_template [#3644]

• v1.10.0 Changes

  January 19, 2020

  🚀 Starting with PCL 1.10, to ensure compatibility with future PCL releases, please 👉 use pcl::make_shared and the Class::Ptr + Class::ConstPtr type-alias instead of using direct names like {boost, std}::shared_ptr or {boost, std}::make_shared. There is also pcl::shared_ptr which offers the same abstraction for non-PCL types.

  New Features:

  🆕 Newly added functionalities.

  • [sample_consensus] Add parallel RANSAC implementation with OpenMP [#3514]
  • [registration] Add linear least squares version of symmetric objective function for ICP [#3390]
  • [common] Add concatenate operation for PolygonMesh [#3316]
  • [common] Add emplace[_back] to pcl::PointCloud [#3207]
  • [cmake] Add format compilation target that applies clang-format to whitelisted modules [#3188]
  • [common] Add pcl::make_shared that automatically handles aligned allocations [#3163]
  • [modernization][cmake] Enable C++ 14 flags [#2690]
  • [io] Add RSSDK 2.0 (librealsense2) grabber [#2214]

  🗄 Deprecated:

  🚀 Deprecated code scheduled to be removed after two minor releases.

  • [common] Revert smart pointer type change in PointCloud and deprecate getMapping() [#3563]
  • [common] Deprecate getFields() with output parameter in favor of overload with return value [#3401]
  • [recognition] Refactor MaskMap and deprecate several of its methods [#3399]
  • [common] Deprecate getFieldIndex()/getFields() with first argument as cloud [#3365]
  • [common] Add PCLPointCloud2::operator+=() and update concatenation operation [#3320]
  • [segmentation] Delete unused params in OrganizedMultiPlaneSegmentation::refine() [#3302]
  • [visualization] Add new overload of PointCloudColorHandler::getColor() [#3187]
  • [modernization][io] Add registerCallback() overload to grabbers to support assignment of boost::functions with templated signatures [#3128]
  • [surface] Convert MovingLeastSquaresOMP into an alias template and deprecate [#3119]
  • [kdtree] Remove unnecessary FLANN includes, deprecate "kdtree/flann.h" header [#2993]
  • [features] Deprecate computeRSD() functions that take pointclouds by pointer [#2827]
  • [modernization] Deprecate pcl_isnan, pcl_isfinite, and pcl_isinf in favor of std methods [#2798, #3457]
  • [filters] Restructure and add functionality to filters templated on PCLPointCloud2 [#3483, #3500]

  🚚 Removed:

  🗄 Removal of deprecated code.

  • [segmentation] Remove SupervoxelClustering::getColoredVoxelCloud() [#3469]
  • [io] Remove FZ-API [#2747]

  Behavioral changes:

  🔄 Changes in the expected default behavior.

  • [sample_consensus] Set default min and max angle for SAC cone models [#3466]
  • [tools] Do not discard data fields in pcl_uniform_sampling tool [#3461]
  • [common] Disable colored output for non-interactive terminals [#3310]
  • [io] Add support for device URI in OpenNI2Grabber constructor [#3238]
  • [common] Enforce right-hand-rule on PCA eigenvectors [#2946]
  • [visualization] Improve c/C command in PCLVisualizer [#2926]
  • [registration] Fix ICP misbehavior in the "failure after maximum iterations" mode [#2892]
  • [common] Initialize curvature in PointNormal default constructor [#2674]

  API changes:

  🔄 Changes to the API which didn't go through the proper deprecation and removal cycle.

  • [gpu] Replace uint64_type by std::uint64_t [#3435]
  • [modernization] Migrate from boost::tuple to std::tuple [#3250]
  • [modernization] Migrate boost::function to std::function [#3079]

  ABI changes:

  🔄 Changes that cause ABI incompatibility but are still API compatible.

  • [modernization] Migrate from boost::unordered_map to std::unordered_map [#3107]
  • [modernization] Migrate to standard library type traits [#3105]
  • [visualization] Minor refactoring of pcl::visualization::Camera and related functions [#2901]
  • [modernization] Migrate from boost::thread to std::thread [#3060, #3094]
  • [modernization] Prefer using Ptr typedefs and migrate to std smart pointers in non-API code [#2804, #2821, #2823, #2929, #3061, #3141, #3142, #3217, #3474, #3482, #3486, #3489, #3497]
  • [modernization] Migrate to std random number generators [#2956, #2962, #3069]
  • [filters] Restructure and add functionality to filters templated on PCLPointCloud2 [#3483, #3500]

  Migration to C++14 and code modernization:

  • Convert boost::shared_ptr to pcl::shared_ptr [#3546]
  • 👍 Better indices in loops [#3543]
  • Replace raw arrays with std::vectors in RangeImageBorderExtractor [#3533]
  • ✂ Remove redundant calls to std::string::c_str() [#3517]
  • Convert pcl::int_t to std::int_t [#3422]
  • ✂ Remove deprecated throw specifier [#3384]
  • Prefer numeric_limits from standard library [#3360]
  • ➕ Add missing std::move or const reference for parameters [#3253]
  • [api] Migrate from boost::tuple to std::tuple [#3250]
  • Migrate from boost::bind to std::bind [#3249]
  • 👉 Use transparent functors [#3224]
  • ➕ Add cloexec option to fopen [#3223]
  • 🗄 [deprecation] Add registerCallback() overload to grabbers to support assignment of boost::functions with templated signatures [#3128]
  • [abi] Migrate from boost::unordered_map to std::unordered_map [#3107]
  • [abi] Migrate to standard library type traits [#3105]
  • ✂ Remove dead stores [#3095]
  • [api] Migrate boost::function to std::function [#3079]
  • ✂ Remove redundant member field initialization [#3070]
  • Prefer returning braced init list [#3039]
  • Prefer empty() over size() when checking container state [#3033]
  • Prefer combined assignment operators [#3030]
  • ✂ Remove unnecessary nullptr checks before delete [#2990]
  • 👌 Improve readability of string comparisons [#2986]
  • Prefer std::isnan over != comparison trick [#2977]
  • ✂ Remove deprecated Boost Filesystem code [#2966]
  • Migrate from BOOST_STATIC_ASSERT and EIGEN_ASSERT to static_assert [#2951]
  • Prefer std::log2 over custom implementation [#2950]
  • Migrate from boost::this_thread::sleep to std::this_thread::sleep_for [#2921]
  • 🛠 Fix bug prone loop variables that are too small [#2829]
  • Migrate from boost::math::isnan to std::isnan [#2819]
  • 🛠 Fix "variableScope" hints from CppCheck [#2807]
  • 👌 Improve performance of finding single character in strings [#2794]
  • Prefer using bool literals [#2793]
  • Simplify boolean expressions [#2790]
  • Prefer raw strings over escaped strings [#2789]
  • Prefer std::to_string over boost::lexical_cast for integer conversions [#2785]
  • Prefer emplace_back over push_back [#2784]
  • ✂ Remove unnecessary void parameter [#2780]
  • 👉 Use =delete to disable special members [#2779]
  • 🛠 Fix access to static members through instances [#2776]
  • ✂ Remove usage of deprecated registerstorage class specifier [#2761]
  • ✂ Remove redundant string initialization with "" [#2758]
  • ➕ Add cloexec option to fopen [#2755]
  • 🗄 Replace deprecated C library headers [#2737]
  • Modernize code to use override [#2728]
  • 🗄 Prefer standard [[deprecated]] attribute [#2699]
  • [new-feature] Enable C++ 14 flags [#2690]
  • Revise arguments which were being passed by value instead of as a reference [#2668]
  • 🛠 Fix "knownConditionTrueFalse" hints from CppCheck [#2648]
  • 🛠 Fix "unreadVariable" hints from CppCheck [#2645]
  • Replace hash_map with unordered_map in 3rdparty/poisson4 [#2640]
  • Prefer lambdas over binds [#3136, #3171, #3173, #3178, #3189, #3192, #3199, #3209, #3231, #3243, #3254]
  • Prefer range-based for loops [#2812, #2834, #2835, #2836, #2837, #2838, #2839, #2840, #2841, #2842, #2843, #2844, #2845, #2846, #2847, #2848, #2849, #2850, #2851, #2853, #2854, #2855, #2856, #2857, #2858, #2859, #2860, #2887, #3396, #3557]
  • Prefer nullptr over 0 and NULL [#3004, #3005, #3006, #3007, #3008, #3009, #3010, #3011, #3012, #3013, #3014, #3015, #3016, #3017, #3018, #3019, #3020, #3021, #3022, #3023, #3024, #3025, #3026, #3027, #3028, #3029]
  • Migrate to std::chrono [#2913, #2919, #3318]
  • [abi] Migrate from boost::thread to std::thread [#3060, #3094]
  • 🔒 Migrate mutex, lock and csv to modernization [#3063, #3068, #3074, #3078, #3084, #3086, #3088, #3091, #3093, #3100]
  • Prefer using over typedef [#3112, #3113, #3115, #3117, #3118, #3121, #3122, #3123, #3124, #3125, #3129, #3130, #3132, #3134, #3137, #3138, #3139, #3144]
  • Prefer std math functions over C functions [#3087, #3236, #3255, #3256, #3257, #3258, #3270, #3271, #3272, #3280, #3282, #3287]
  • [abi] Prefer using Ptr typedefs and migrate to std smart pointers in non-API code [#2804, #2821, #2823, #2929, #3061, #3141, #3142, #3217, #3474, #3482, #3486, #3489, #3497]
  • [abi] Migrate to std random number generators [#2956, #2962, #3069]
  • 🗄 [deprecation] Deprecate pcl_isnan, pcl_isfinite, and pcl_isinf in favor of std methods [#2798, #3457]
  • ➕ Add explicit std:: prefix to standard types/functions [#3265, #3326, #3327, #3328, #3354, #3426, #3434]
  • ✂ Remove else after return statement [#3180, #3181, #3182, #3183, #3184, #3185, #3186]
  • ✂ Remove redundant typename keyword [#2896, #2897, #2927]
  • Prefer #pragma once over #ifndef include guards [#2617, #2707]
  • Apply clang-format to white-listed modules [#3343, #3344, #3356, #3363, #3393, #3416]
  • ✂ Remove default constructors/destructors [#3440, #3454]
  • 🛠 Fix various compiler warnings [#2665, #2775, #2778, #2781, #2782, #2822, #2898, #2907, #3001, #3075, #3076, #3153, #3155, #3208, #3212, #3214, #3342, #3345, #3348, #3366, #3372, #3375, #3377, #3385, #3388, #3409, #3425, #3427, #3507, #3509, #3554, #3555]
  • Prefer std::size_t in loops [#3550, #3556]

  Modules:

  CMake:

  • Set compile features on imported PCL targets [#3567]
  • Create CMake imported targets for header-only modules [#3495]
  • ⚠ Add PCL_WARNINGS_ARE_ERRORS CMake option and enable it in Ubuntu 16.04 CI job [#3478]
  • Avoid using VERSION_GREATER_EQUAL to preserve compatibility with CMake 3.5 [#3460]
  • ✂ Remove policy push/pop from "PCLConfig.cmake" file [#3431]
  • 🛠 Fix link-type keywords in linked libraries in "PCLConfig.cmake" with CMake >= 3.11 [#3341]
  • ⚡️ Update prefix hints in GTest finder script [#3331]
  • 🚚 PCL All-in-one Installer: add process to add/remove VTK path [#3322]
  • ➕ Add surface module to the list of dependencies of examples [#3295]
  • ➕ Add missing install rule for "2d/kernel.hpp" header [#3278]
  • [new-feature] Add format compilation target that applies clang-format to whitelisted modules [#3188]
  • 👉 Use COMPONENTS when finding VTK to avoid linking agains unnecessary modules [#3140]
  • ➕ Add thread library of the system by Threads::Threads instead of via -pthread flag [#3102]
  • 📦 Fix find_package_handle_standard_args incorrect argument in GTest finder script [#3098]
  • 🛠 Fix compound target's target registration [#3090]
  • Set CMP0072 to NEW to prefer GLVND over legacy OpenGL modules [#3066]
  • ➕ Improve parsing of BUNDLE option in PCL_ADD_EXECUTABLE [#3064]
  • 🚀 Change debug/release targets postfix on Windows [#3055]
  • ➕ Add version info on Windows for DLLs/Exe [#3054]
  • Modernize some CMake macros (Increases minimum required CMake version to 3.5) [#3044]
  • ➕ Add newer Boost versions to Boost_ADDITIONAL_VERSIONS [#3003]
  • 👉 Refactor PCL_MAKE_PKGCONFIG [#2894]
  • ⬆️ Bump Eigen minimum version to 3.1 [#2893]
  • 👌 Improve compatibility with latest VTK [#2885]
  • PCL All-in-one Installer: add quiet flag to msiexec installs [#2873]
  • 👉 Use -mtune instead of -march on non-x86 CPUs [#2868]
  • Prevent adding /MP flag for MSVC in case any other language than C/CXX will be used (e.g. CUDA) [#2862]
  • ➕ Add support for Visual Studio 2019 [#2826]
  • ⬇️ Drop MSVC 2013 (and below) support [#2817]
  • ⬇️ Drop GCC 4 support [#2760]
  • Mark include directories of 3rd-party libraries as system includes [#2733]
  • 🛠 Fix Qt5 CMake issue [#2719]
  • ⬇️ Reduce unnecessary nesting in "CMakeLists.txt" [#2718]
  • ⬇️ Drop Qt4 support [#2716]
  • Remove unnecessary VTK_INCLUDE_DIRECTORIES [#2713]
  • ➕ Add MSVC_MP CMake option to adjust number of parallel build jobs [#2705]
  • Set interface compile features to cxx_std_14 on PCL targets [#2697]
  • Reorganize and beautify project generation for IDEs [#2691]
  • [new-feature] Enable C++ 14 flags [#2690]
  • ✂ Remove vendored "FindGLEW.cmake" and adopt imported targets; rename "FindGTest.cmake" to prevent name clash [#2679]
  • ➕ Add compound CMake targets for examples, tools, and apps [#2673]
  • Set CMake policy CMP0074 to NEW [#2671]
  • ✂ Remove conditional code for no longer supported versions of CMake [#2667]
  • 🗄 Raise minimum required Boost version to 1.55; fix deprecated Boost endians [#2801]
  • Modernize FLANN finder script [#2740, #2861, #2905, #2910, #3157, #3202, #3220, #3317]

  libpcl_2d:

  • 🛠 Fix EIGEN_ALIGN16 positionining for point type XYZHSV [#3237]

  libpcl_common:

  • 🗄 [deprecation] Revert smart pointer type change in PointCloud and deprecate getMapping() [#3563]
  • Define RangeImage destructor as virtual [#3477]
  • 🔨 Refactor pcl::eigen33() to reduce potential errors (and remove bug) [#3441]
  • 👉 Use generic detection idiom in isFinite() [#3402]
  • 🗄 [deprecation] Deprecate getFields() with output parameter in favor of overload with return value [#3401]
  • 🔨 Refactor polynomial calculations and remove memory leak [#3392]
  • ✂ Removes deprecated usage of getFields(cloud, fields) [#3374]
  • 🗄 [deprecation] Deprecate getFieldIndex()/getFields() with first argument as cloud [#3365]
  • ✂ Remove vector.reserve() from hot path in cloud concatenation [#3361]
  • 🗄 [deprecation] Add PCLPointCloud2::operator+=() and update concatenation operation [#3320]
  • [new-feature] Add concatenate operation for PolygonMesh [#3316]
  • Simplify the resize logic in PCLBase [#3315]
  • [behavior] Disable colored output for non-interactive terminals [#3310]
  • [new-feature] Add emplace[_back] to pcl::PointCloud [#3207]
  • [new-feature] Add pcl::make_shared that automatically handles aligned allocations [#3163]
  • [behavior] Enforce right-hand-rule on PCA eigenvectors [#2946]
  • 🛠 Fix a bug in CentroidPoint [#2875]
  • [behavior] Initialize curvature in PointNormal default constructor [#2674]

  libpcl_cuda:

  • ✂ Remove code for CUDA below 7.5, update version checks [#3152]
  • ➕ Add missing include to support CUDA 10.1 [#2883]
  • ⬇️ Drop CUDA 7.0 (and below) support [#2736]

  libpcl_features:

  • 🛠 Fix numerical issue in GASD estimation [#3498]
  • 🗄 [deprecation] Deprecate computeRSD() functions that take pointclouds by pointer [#2827]
  • 🛠 Fix data race in NormalEstimationOMP on Windows [#2770]

  libpcl_filters:

  • 🔀 Merge pull request #3540 from facontidavide/fix_filter [#3540]
  • 🛠 Fix incorrect switch fallthrough in convolution operator [#3429]
  • 👉 Use size_t for address computation in CropBox filter [#3418]
  • 🚚 Fix a bug in removed index extraction in UniformSampling [#3323]
  • 🛠 Fix CropBox with indices; add new assertions for unit tests [#3306]
  • 🛠 Use fixed-size Eigen block expressions in FrustumCulling [#2786]
  • 🗄 [abi][deprecation] Restructure and add functionality to filters templated on PCLPointCloud2 [#3483, #3500]

  libpcl_gpu:

  • 🛠 Fix building of KinFu Large Scale app with Visual Studio [#3504]
  • [api] Replace uint64_type by std::uint64_t [#3435]
  • ➕ Add OpenNI2 support to kinfu_largescale tool [#3391]
  • 👉 Use constexpr in KinFu and KinFu large scale apps [#3386]
  • ✂ Remove duplicated and unused "cutil_math.h" [#3264]
  • Drop unnecessary CUDA_ARCH checks [#3154]
  • ✂ Remove code for CUDA below 7.5, update version checks [#3152]
  • ✂ Remove unused timer routines in "NCV.cu" [#3135]
  • ➕ Add sync variants to CUDA vote functions to support PTX/ARCH >= 7.0 [#2981]
  • Fix -debug option parsing in people_pcd_prob tool [#2656]

  libpcl_io:

  • 📜 Make PLY parser more tolerant towards files not adhering to standard [#3542]
  • 🛠 Fix a bug in binary header generation for PCD files [#3522]
  • [behavior] Add support for device URI in OpenNI2Grabber constructor [#3238]
  • Include "pcl_config.h" before checking HAVE_OPENNI2 [#3191]
  • 🖨 Print descriptive error if PLY file not found [#3143]
  • 🗄 [deprecation] Add registerCallback() overload to grabbers to support assignment of boost::functions with templated signatures [#3128]
  • 🛠 Fix preallocation of memory in PLY reader [#2800]
  • 🛠 Fix possible integer overflow while iterating PointCloud fields [#2754]
  • [removal] Remove FZ-API [#2747]
  • 👌 Improve loading of massive PLY files [#2715]
  • [new-feature] Add RSSDK 2.0 (librealsense2) grabber [#2214]
  • 🛠 Fix callback signatures in some grabbers [#3216, #3225]

  libpcl_kdtree:

  • 🗄 [deprecation] Remove unnecessary FLANN includes, deprecate "kdtree/flann.h" header [#2993]

  libpcl_keypoints:

  • ✂ Removed all duplicated branches in AgastKeypoint2D [#2657]

  libpcl_recognition:

  • 👉 Use range-based for loops with boost::filesystem::directory_iterator [#3432]
  • 🗄 [deprecation] Refactor MaskMap and deprecate several of its methods [#3399]
  • ➕ Add missing include in "trimmed_icp.h" [#3286]
  • 👉 Use I/O helper method in pcl::LineRGBD [#2796]

  libpcl_registration:

  • 👉 Make Registration::hasConverged() const-qualified [#3456]
  • 🛠 Fix debug message by reordering statements in GICP [#3398]
  • [new-feature] Add linear least squares version of symmetric objective function for ICP [#3390]
  • 🛠 Fix the OpenMP errors/warnings in "ia_fpcs.hpp" [#3389]
  • 🛠 Fix pcl::Registration::getFitnessScore() documentation [#3082]
  • [behavior] Fix ICP misbehavior in the "failure after maximum iterations" mode [#2892]

  libpcl_sample_consensus:

  • [new-feature] Add parallel RANSAC implementation with OpenMP [#3514]
  • [behavior] Set default min and max angle for SAC cone models [#3466]
  • ➕ Add const qualifier to multiple methods in SAC module [#2970]
  • 🛠 Fix regression in pcl::SACSegmentation line fitting [#2767]

  libpcl_segmentation:

  • [removal] Remove SupervoxelClustering::getColoredVoxelCloud() [#3469]
  • 🗄 [deprecation] Delete unused params in OrganizedMultiPlaneSegmentation::refine() [#3302]
  • ➕ Add noexcept for boost::checked_delete<> friend [#2942]
  • 🛠 Fix SupervoxelClustering compilation problem in MSVC 2015.3 [#2867]

  libpcl_simulation:

  • Fix bug in SimExample::write_depth_image_uint trigerring -Wtype-limits warning [#3430]

  libpcl_stereo:

  • 🔀 Merge pull request #3566 from kunaltyagi/stereo [#3566]

  libpcl_surface:

  • 🛠 Fix undefined behaviour in OctNode [#3561]
  • 🛠 Fix memory leak in TextureMapping [#3549]
  • Prevent memset for empty vector in 3rdparty/poisson4 [#3537]
  • ✂ Remove incorrect tree update in MarchingCubes [#3240]
  • 🗄 [deprecation] Convert MovingLeastSquaresOMP into an alias template and deprecate [#3119]
  • 🛠 Fix a bug in ConvexHull when indices are used [#2999]
  • ✅ Include "pcl_config.h" before testing HAVE_QHULL [#2979]
  • Throw exceptions instead of exit(0) in Poisson surface reconstruction [#2891]
  • Add check for invalid plane coefficients in MovingLeastSquares [#2805]
  • 🛠 Fix the size of the lookup table in BilateralUpsampling [#2749]
  • Replace hash_map with unordered_map in 3rdparty/poisson4 [#2640]

  libpcl_visualization:

  • ➕ Add a flag to disable window autoresizing in ImageViewer [#3394]
  • 🗄 [deprecation] Add new overload of PointCloudColorHandler::getColor() [#3187]
  • [behavior] Improve c/C command in PCLVisualizer [#2926]
  • ⚠ Disable VTK warning display with OpenGL rendering backend [#2912]
  • [abi] Minor refactoring of pcl::visualization::Camera and related functions [#2901]
  • 🛠 Fix a bug in PCLVisualizer::setShapeRenderingProperties() [#2900]
  • 🛠 Fix possible integer overflow while iterating PointCloud fields [#2754]
  • Raise minimum VTK version to 6.2 [#2685]

  PCL Apps:

  • 🛠 Fix memory leaks in OpenNI apps [#3553]
  • 👉 Use range-based for loops with boost::filesystem::directory_iterator [#3432]
  • Do not use deprecated function in stereo_ground_segmentation [#3406]
  • ➕ Add missing std::move or const reference for parameters [#3232]
  • Remove magic numbers from organized_segmentation_demo app [#3108]
  • Add missing include render_views_tesselated_sphere app [#2909]
  • ✂ Remove Qt version checks [#2762]
  • Cleanup Qt includes in Modeler app [#2756]
  • Cleanup Qt includes in CloudComposer app [#2744]
  • 🛠 Fix MSVC compile issues in CloudComposer app [#2712]
  • 🛠 Fix Modeler app with OpenGL2 rendering backend [#2653]

  📄 PCL Docs:

  • 🛠 Fix and improve documentation in sample_consensus module [#3301]
  • 🛠 Fix pcl::Registration::getFitnessScore() documentation [#3082]
  • 🛠 Fix source file name path stripping in Doxygen [#2714]

  PCL Tutorials:

  • 🛠 Fix "CMakeLists.txt" in VFH tutorial [#3449]
  • ⚡️ Update information about types with RGBA data in tutorial [#3294]
  • ➕ Add a note about adjusting passthrough limits in template alignment tutorial [#3193]
  • ➕ Add missing shell command in "Building PCL" tutorial [#2996]
  • 🛠 Fix cube rendering properties in "Moment of Inertia" tutorial [#2880]
  • Migrate from boost::math::iround to std::lround [#2818]
  • Link with PCL_LIBRARIES, not PCL_***_LIBRARIES [#2799]

  ✅ PCL Tests:

  • 🚚 Move OMP version of MovingLeastSquares into a separate test case [#3382]
  • 🛠 Fix CropBox with indices; add new assertions for unit tests [#3306]
  • 📦 Fix find_package_handle_standard_args incorrect argument in GTest finder script [#3098]
  • ✅ Do not test buffers instantiated with char template argument [#2980]
  • 👉 Remove GTEST_USE_OWN_TR1_TUPLE defines [#2828]
  • ➕ Add a new test for SampleConsensusModelLine [#2768]
  • ✅ Split test_registration into three binaries [#2727]

  PCL Tools:

  • [behavior] Do not discard data fields in pcl_uniform_sampling tool [#3461]
  • ➕ Add missing includes in ensenso_viewer.cpp [#3035]
  • Do not terminate openni_viewer/openni2_viewer if image viewer was not instantiated [#2698]

  CI:

  • ⚠ Add PCL_WARNINGS_ARE_ERRORS CMake option and enable it in Ubuntu 16.04 CI job [#3478]
  • ➕ Add a new Azure pipeline for Ubuntu 19.10 [#3446]
  • ➕ Add formatting job on CI [#3420]
  • ➕ Add Dockerfiles for images used on CI [#3350]
  • ✅ Publish test results on Azure pipelines [#2948]
  • 🏗 Build tutorials on Azure Pipelines [#2696]

• v1.9.1 Changes

  November 26, 2018

  = 1.9.1 (26.11.2018) =

  Modules:

  Uncategorized:

  • ➕ Add missing visualization section from the changelog generation. [#2634]

  CMake:

  • 🛠 Fix development version check on DISSECT_VERSION. [#2633]
  • ✂ Remove CMake policy CMP0054 setting. [#2627]
  • PCLConfig.cmake - POP policy-stack before return() [#2626]
  • ✂ Remove CMake config installation folder only when empty [#2622]
  • ⬇️ Downgrade grabber dependency message level to STATUS. [#2620]
  • Migrate CMake policy 0048 [#2608]
  • ⬆️ Bump CMake minimum version to 3.1. [#2605]
  • ⬆️ Bump version to 1.9.0-dev [#2602]
  • Search in $EIGEN_ROOT first while looking for Eigen [#2592]

  libpcl_visualization:

  • ➕ address conflict between visualization and VTK head [#2612]

  PCL Tutorials:

  • ⬆️ Bump CMake minimum version to 3.1. [#2605]

  ✅ PCL Tests:

  • 🔨 Refactor SHOTEstimation and SHOTColorEstimation tests [#2636]

  CI:

  • 🍎 Set up azure pipelines for macOS High Sierra [#2635]
  • 🏁 Enable Windows builds on Azure Pipelines [#2632]
  • ➕ Add Ubuntu16.04 based build on Azure Pipelines [#2611]
  • ✂ Remove documentation job from Travis [#2604]

• v1.9.0 Changes

  November 06, 2018

  New Features:

  🆕 Newly added functionalities.

  • [common][visualization] Add Viridis color LUT [#2420]
  • [octree] Implementation of the iterator 'OctreeLeafNodeBreadthIterator'. [#2204]
  • [octree] Implementation of the iterator 'OctreeFixedDepthIterator'. [#1983]
  • [ci] Enable Global Tests on Windows CI [#2137]
  • [features] Add GASD global point cloud descriptor [#1652]
  • [visualization] Add overload to PCLVisualizer::addText3D() that allows specifying text orientation [#2038]
  • [features] FLARELocalReferenceFrameEstimation class added [#1571]
  • [surface][tools] Add new mls projection method. Deprecated MovingLeastSquares::setPolynomialFit(). [#1960]

  🗄 Deprecated:

  🚀 Deprecated code scheduled to be removed after two minor releases.

  • [octree] Implementation of the iterator 'OctreeLeafNodeBreadthIterator'. [#2204]
  • [common][segmentation] Provide proper EuclideanClusterComparator method depreciation. New Pragma macro. New Deprecated type. [#2096]
  • [io] Add support pcl::PointXYZRGBA to pcl::VLPGrabber. Deprecate rgb signatures. [#2102]
  • [surface][tools] Add new mls projection method. Deprecated MovingLeastSquares::setPolynomialFit(). [#1960]

  🚚 Removed:

  🗄 Removal of deprecated code.

  • [filters][io][surface][visualization] Removal of deprecated code in filters, io, surface and visualization modules [#2077]
  • [common] Remove deprecated ros headers [#2075]
  • [registration] Remove registration module deprecated methods [#2076]
  • [sample_consensus] Remove deprecated functions and variables from SAC module [#2071]
  • [common] Removal of PCA deprecated constructor [#2070]

  Behavioral changes:

  🔄 Changes in the expected default behavior.

  • [common] PointCloudDepthAndRGBtoXYZRGBA: initialize with the default alpha value (fix #2476) [#2533]
  • [octree] Reverse octree's depth first iterator order [#2332]
  • [common] PointXYZRGBL label field is now default constructed to 0 [#2462]
  • [io] Fix PLYReader is_dense behavior [#2133]

  API changes:

  🔄 Changes to the API which didn't went through the proper deprecation and removal cycle.

  • [octree] Implementation of the iterator 'OctreeLeafNodeBreadthIterator'. [#2204]
  • [sample_consensus] Const-qualify most of the methods in SAC model classes [#2270]
  • [simulation] Use GLuint rather than size_t to represent OpenGL indices. [#2238]
  • [visualization] Fix access specifier in PointCloudColorHandlerRGBAField [#2226]
  • 📄 [docs] Misc. typos (cont.) [#2215]
  • [octree] OctreeIterators special member revision [#2108]
  • [io] Add support pcl::PointXYZRGBA to pcl::VLPGrabber. Deprecate rgb signatures. [#2102]
  • [surface][tools] Add new mls projection method. Deprecated MovingLeastSquares::setPolynomialFit(). [#1960]
  • [surface] Add ability to cache mls results [#1952]

  ABI changes:

  🔄 Changes that cause ABI incompatibility but are still API compatible.

  • [surface] Missing pcl::MovingLeastSquaresOMP declaration without /openmp [#2324]
  • [common][filters][surface] Improved docstrings and error messages [#2300]
  • [common] Modified GlasbeyLUT indexing type to size_t [#2297]
  • [octree] Implementation of the iterator 'OctreeFixedDepthIterator'. [#1983]
  • [common][segmentation] Provide proper EuclideanClusterComparator method depreciation. New Pragma macro. New Deprecated type. [#2096]
  • [gpu] Allow specifying decimation step in convertToTsdfCloud [#2099]
  • [apps] More warning suppression in pcl apps [#2080]
  • [io] Removed unused member from ply_parser [#2066]
  • [filters] Fixes remove_indices in UniformSampling [#1902]
  • [visualization] Add accessor for current rendering framerate in PCLVisualizer [#1974]
  • [simulation] Redo: Simulation: enable returning of organized point clouds [#1687]
  • [registration] Added option to specify translation and rotation convergence deltas in ICP and NDT algorithms. [#1724]

  Modules:

  Uncategorized:

  • 🔄 Change Log generation tool. Automates change log generation. [#2396]
  • Compatibility reports generation script [#2410]
  • ⚡️ Update logo [#2547]
  • Never close stale issues/prs [#2400]
  • 🛠 Fix typos in the whole codebase [#2217]
  • 🛠 Fixed typo and rearragend items in the issue template [#2197]
  • 🔄 Change Stale daysTillClose to 100 years [#2166]
  • set stale daysUntilClose to a really big number [#2162]
  • Stale set up [#2101]

  CMake:

  • 🛠 Fix checks for user-provided CXX flags [#2579]
  • 🛠 Fix FLANN path to lower case [#2576]
  • 👉 Use pkg-config to find Flann [#2563]
  • ⚡️ Update FindBoost versions [#2558]
  • 🏗 Add PCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32 option [#2552]
  • 🛠 Fix app/CMakeLists to enable Apps under Windows [#2550]
  • 🔧 When configuring with WITH_DOCS, but Doxygen is not available, prevent generation. [#2516]
  • ✅ CMake: Do not include test targets in PCLConfig.cmake [#2458]
  • CMake Set temporarily the policy CMP0074 to OLD [#2454]
  • prevent GCC flags propagating to NVCC [#2430]
  • Mark visualization as an optional dependency of tools [#2439]
  • Do not mark imported libraries as GLOBAL in PCLConfig [#2435]
  • 🛠 Intel fixes [#2432]
  • Export -march=native for Clang and prevent it from being included during cross compilation. [#2416]
  • Do not search for PCL components that have been found already [#2428]
  • Move SSE compiler options to PCL_COMPILE_OPTIONS. Expose PCL as a CMake imported target. [#2100]
  • ➕ Add Visual Studio compiler option /FS for Ninja build [#2414]
  • 👉 Use rpath in the target's install name [#2241]
  • 👌 Improve QHull finder script [#2344]
  • 🛠 Fix link order issue with boost [#2236]
  • Mark found PCL component libraries and include dirs as advanced [#2235]
  • Prevent search for disabled optional dependencies in targets. [#2229]
  • 🛠 Fix installation rules for ml module [#2192]
  • 🛠 Fix conditional branch of Visual C++ 2017 [#2121]
  • 👉 Add *_USE_STATIC options to PCLConfig [#2086]
  • ➕ Add search path suffixes for Vcpkg [#2085]
  • ⚡️ Update finder scripts for Ensenso, OpenNI, and OpenNI2 [#2061]
  • 🛠 Fix PACKAGE to include cmake/Modules directory [#2053]
  • Unifies Find scripts in PCLConfig [#1421]
  • CUDA 9 Arch Flags [#2047]
  • Suppress log when PCL_FIND_QUIETLY is turned on. [#2032]
  • 🛠 fix /MP option not generated for Visual Studio. [#2031]
  • Generate pkgconfig for 2d module [#1979]
  • ⚡️ Update Find Boost [#1972]
  • ➕ Added CUDA compute capability 5.3 [#1929]
  • 🛠 Fix issue with finding pcl deployed out of path [#1923]
  • ➕ Add new gtest path [#1920]

  libpcl_2d:

  • 🚚 Avoid huge index jumps in RandomSample. Remove io dependency from 2d. [#2141]
  • 🛠 Fix header names [#2079]
  • Generate pkgconfig for 2d module [#1979]

  libpcl_common:

  • 🛠 Fix docstrings [#2591]
  • 👻 Throw an early exception to prevent divide by zero error (#2481) [#2530]
  • ✅ Relax requirements in eigen22d test. Always provide a normalized result in pcl::transformPlane. [#2503]
  • [behavior] PointCloudDepthAndRGBtoXYZRGBA: initialize with the default alpha value (fix #2476) [#2533]
  • Throw UnorganizedPointCloudException in PointCloud::at [#2521]
  • ➕ Add missing const specifier for getters in PCLBase. [#2502]
  • swap the header in pcl::PointCloud::swap [#2499]
  • ➕ Add header guard and copyright info to polynomial_calculations.hpp [#2500]
  • ➕ Add header to the print output of PointCloud [#2498]
  • 🛠 Fix force recalculation option in BivariatePolynomialT::calculateGradient [#2479]
  • 🛠 Fix various errors and typos in the docstrings and tutorials [#2486]
  • 🛠 Fix a bug in PointRGBtoI color conversion [#2475]
  • Provide operator<< for Intensity32u point type [#2467]
  • [behavior] PointXYZRGBL label field is now default constructed to 0 [#2462]
  • ➕ Add some missing eigen alignment operators [#2433]
  • 🛠 Intel fixes [#2432]
  • [new-feature] Add Viridis color LUT [#2420]
  • ✂ Remove malloc header to restore builds on BSDs [#2374]
  • Add support for multiple extensions in parse_file_extension_argument (). [#2347]
  • 👌 Improve speed of transformPointCloud/WithNormals() functions [#2247]
  • ➕ Add RGB constructor that takes R, G, and B components [#2329]
  • [abi] Improved docstrings and error messages [#2300]
  • [abi] Modified GlasbeyLUT indexing type to size_t [#2297]
  • Add GASDSignatures to PCL_POINT_TYPES and PCL_FEATURE_POINTTYPES macros. [#2295]
  • 📜 [PARSE] Constness of the API [#2224]
  • 🛠 Fix two "unreachable code" warnings in pca.hpp [#2219]
  • 🛠 Fix covariance calculation in PCA [#2130]
  • 🗄 [abi][deprecation] Provide proper EuclideanClusterComparator method depreciation. New Pragma macro. New Deprecated type. [#2096]
  • [removal] Remove deprecated ros headers [#2075]
  • ⚠ Suppress (maybe) uninitialized warning [#2073]
  • [removal] Removal of PCA deprecated constructor [#2070]
  • 🛠 [gcc] fixes -Wimplicit-fallthrough: common/io.h [#2041]
  • Include pcl/point_cloud.h and pcl/point_types.h headers. [#1962]
  • 👉 Add test for macro _USE_MATH_DEFINES. [#1956]
  • 🚚 instantiate: remove duplicate macro definition. Fixes #1924. [#1925]

  libpcl_cuda:

  • ➕ add support for latest Turing gpu and cuda 10 [#2560]
  • 🛠 Fix compilation issues with CUDA 9.1 [#2212]
  • 🛠 Fix some CUDA 9 related errors [#2181]
  • ➕ Added CUDA compute capability 5.3 [#1929]

  libpcl_features:

  • ✅ Solve issues with failing features tests [#2544]
  • ⚡️ Update the OpenMP implementations of normal and FPFH estimation [#2278]
  • 👉 Make MomentOfInertia instantiations consistent with the rest of the library [#2266]
  • 📄 Docstring corrections [#2143]
  • 👌 Improve Doxygen comments for HistogramInterpolationMethod [#2111]
  • [new-feature] Add GASD global point cloud descriptor [#1652]
  • ⚠ Suppress (maybe) uninitialized warning [#2073]
  • [new-feature] FLARELocalReferenceFrameEstimation class added [#1571]
  • 🛠 fix missing include file: from_meshes.h is using pcl::Vertices in it [#2009]
  • Typo [#1968]

  libpcl_filters:

  • ✅ Corrections to CovarianceSampling class and corresponding test [#2512]
  • ➕ Add the missing const modifier in Filter::getRemovedIndices. [#2523]
  • ➕ Add const modifiers to getters of pcl::PassThrough [#2524]
  • ➕ Add const specifiers for getters in VoxelGrid. [#2526]
  • Copy the pose info from the input cloud to the output cloud in NaN removal functions [#2522]
  • 🛠 Fix misc. typos in tutorials and docstrings [#2529]
  • 🛠 Fix various errors and typos in the docstrings and tutorials [#2486]
  • ➕ Add some missing eigen alignment operators [#2433]
  • ➕ Add PointNormal to ExtractIndices Instantiate Types [#2389]
  • [abi] Improved docstrings and error messages [#2300]
  • Public access to VoxelGrid boost pointer. [#2205]
  • ➕ Add const qualifiers to getters in filter_indices.h [#2193]
  • 🚚 Avoid huge index jumps in RandomSample. Remove io dependency from 2d. [#2141]
  • [removal] Removal of deprecated code in filters, io, surface and visualization modules [#2077]
  • ⚠ Suppress unused parameter warning [#2074]
  • ⚠ Suppress sign compare warnings [#2068]
  • Transformation Fix for BoxClipper3D [#1961]
  • [abi] Fixes remove_indices in UniformSampling [#1902]
  • Inherit StatisticalOutlierRemoval from FilterIndices [#1663]

  libpcl_gpu:

  • ✂ Remove sm_72 from CUDA 9.0 [#2567]
  • 🛠 Fix compilation issues with CUDA 9.1 [#2212]
  • 🛠 Fix compilation error in gpu_people code [#2199]
  • 🛠 Fix some CUDA 9 related errors [#2181]
  • [abi] Allow specifying decimation step in convertToTsdfCloud [#2099]
  • 🛠 Fix the incorrect include directory. [#2024]
  • need to include instantiate.hpp to use PCL_INSTANTIATE [#1943]
  • ➕ Added CUDA compute capability 5.3 [#1929]
  • 🛠 Fix issue #1674 [#1926]

  libpcl_io:

  • ⚠ Suppress miscelanious warnings [#2556]
  • 📜 vtk2mesh: Add parsing support to the new RGBA scalar field added in vtk8 [#2492]
  • 🛠 Fix various errors and typos in the docstrings and tutorials [#2486]
  • 👌 Improved obj file parsing efficiency. Make parsing robust against situations where there are more normals than points. Added unit tests. [#2450]
  • pcl::PCDReader::readHeader() change nr_points type to size_t to avoid possible int32 overflow [#2408]
  • 🛠 Fix raw_fallocate for Android and deal with unsupported filesystems. [#2363]
  • Add low_level_io.h to the header list of the io module [#2356]
  • Created header for low level I/O helpers. Fix for ::posix_fallocate on Mac OSX [#2354]
  • ➕ Added warnings when the input data is too large for compressed pcds [#2323]
  • Allocate disk space with posix_fallocate before mmapping. [#2325]
  • 🛠 Fix cmake warning: Logical block closes with mis-matching arguments [#2320]
  • Added PCL_IO_ENABLE_MAND_LOCKING cmake flag. [#2315]
  • ➕ Added missing 8 bytes to compressed binary pcd length. [#2281]
  • ✂ Remove useless size check in PLYReader::endHeaderCallback() [#2246]
  • [behavior] Fix PLYReader is_dense behavior [#2133]
  • EnsensoGrabber uint is undefined in Visual studio. [#2223]
  • ➕ Add protection from invalid WIDTH values in PCD reader [#2195]
  • PLYReader Cast cloud point step as 64-bit integer [#2161]
  • OpenNI2Device Add device sensor check for IR and depth modesetting [#2150]
  • ➕ Adds a check for when CreateFileMappingA fails [#2146]
  • PCDWriterchanged toff to size_t in writeBinaryCompressed [#2144]
  • 📜 Prevent POINTS field parsing before point_step is specified [#2131]
  • Check COUNT value specified in PCD files [#2126]
  • Prevent mmapping more than the original PCD file size [#2125]
  • 🗄 [api][deprecation] Add support pcl::PointXYZRGBA to pcl::VLPGrabber. Deprecate rgb signatures. [#2102]
  • [removal] Removal of deprecated code in filters, io, surface and visualization modules [#2077]
  • ⚠ Suppress strict alias warning [#2072]
  • ⚠ Suppress unused parameter warnings [#2067]
  • [abi] Removed unused member from ply_parser [#2066]
  • Suppress control reaches end of non-void function in io.h [#2057]
  • Modify STRICT_ALIGN because macro expansion w/defined is undefined [#2043]
  • ➕ Add necessary boost headers to pcl/io to build in CUDA mode [#2025]
  • 🛠 Fix MSVC compile issue related with ssize_t [#2027]
  • ➕ Adds in-memory PCD serialization/deserialization; de-duplicates PCDReader::readHeader(). (take #2) [#1986]

  libpcl_kdtree:

  • Consistent ptr typedefs for kd tree flann [#1607]

  libpcl_keypoints:

  • ➕ Add TrajkovicKeypoint2D/3D to CMake build [#2179]

  libpcl_ml:

  • 🛠 Fix installation rules for ml module [#2192]

  libpcl_octree:

  • [behavior] Reverse octree's depth first iterator order [#2332]
  • 🛠 Fix various errors and typos in the docstrings and tutorials [#2486]
  • ✅ Make test conditions consistent with OctreePointCloudSearch::boxSearch() implementation. [#2457]
  • ⚠ octree_key.h suppress GCC 8 ignored-qualifier warning [#2405]
  • 🗄 [api][deprecation][new-feature] Implementation of the iterator 'OctreeLeafNodeBreadthIterator'. [#2204]
  • [abi][new-feature] Implementation of the iterator 'OctreeFixedDepthIterator'. [#1983]
  • ✅ Octree Iterator begin/end method and added tests [#2174]
  • ✂ Remove parametrization of end iterators [#2168]
  • 🛠 Fix docstrings in octree test [#2173]
  • [api] OctreeIterators special member revision [#2108]
  • ✂ Remove unused variable from octree_viewer [#2069]
  • ⚠ Silence compile warning by removing superfluous call to std::max() [#2014]
  • [OCTREE] Add bounding box checks in isVoxelOccupiedAtPoint() and deleteVoxelAtPoint() [#1976]

  libpcl_outofcore:

  • Explictly use mt19937 random generator for boost 1.67. [#2338]
  • 🛠 Fixed queryBBIncludes_subsample [#1988]

  libpcl_people:

  • Misleading indentation [#2034]

  libpcl_recognition:

  • ✅ Relax threshold in Hough3DGrouping test [#2507]
  • ➕ Add some missing eigen alignment operators [#2433]
  • Setting the resolution of the occupancy grid [#2273]
  • Inline helper function gcCorrespSorter() [#2248]
  • Misleading indentation [#2034]

  libpcl_registration:

  • ✂ Remove std::binary_function from Registration [#2599]
  • ⚠ Suppress miscelanious warnings [#2556]
  • ✅ Relax precision requirements on TransformationEstimationLM test. [#2497]
  • ✅ Relax rejector threshold in JointIterativeClosestPoint test. [#2496]
  • ➕ Add some missing eigen alignment operators [#2433]
  • Remove explicit initialization of update_visualizer_ in Registration [#2423]
  • [removal] Remove registration module deprecated methods [#2076]
  • ⚠ Suppress (maybe) uninitialized warning [#2073]
  • ✂ Remove unreachable code in DefaultConvergenceCriteria [#1967]
  • [abi] Added option to specify translation and rotation convergence deltas in ICP and NDT algorithms. [#1724]

  libpcl_sample_consensus:

  • ✅ Revise direction test in SampleConsensusModelParallelLine/RANSAC to be consistent with set tolerance. [#2491]
  • 🛠 Fix error in SampleConsensusModelLine::isSampleGood [#2488]
  • [api] Const-qualify most of the methods in SAC model classes [#2270]
  • [removal] Remove deprecated functions and variables from SAC module [#2071]

  libpcl_search:

  • ✅ Correct testPoint for organized nearest neighbor search [#2198]

  libpcl_segmentation:

  • ➕ Add some missing eigen alignment operators [#2433]
  • ➕ Add setter/getter for search method in ConditionalEuclideanClustering [#2437]
  • Increase threshold for expected value in test_non_linear [#2424]
  • Avoid infinite recursion in getPointCloudDifference [#2402]
  • 🗄 Correct setting of is_dense flag in SegmentDifferences. Deprecate unused parameter in method. [#2380]
  • Dereference shared_ptr, fix for GCC8 [#2299]
  • 🗄 [abi][deprecation] Provide proper EuclideanClusterComparator method depreciation. New Pragma macro. New Deprecated type. [#2096]
  • ✂ Removed normal related accessors and types from EuclideanClusterComparator [#1542]

  libpcl_simulation:

  • ➕ Add const qualifiers to RangeLikelihood getters. [#2411]
  • [api] Use GLuint rather than size_t to represent OpenGL indices. [#2238]
  • 👌 Support both RGB and RGBA colors in mesh loading [#2036]
  • [abi] Redo: Simulation: enable returning of organized point clouds [#1687]
  • Simulation: more access to camera parameters [#1650]

  libpcl_surface:

  • 🛠 Fixed memory leak in Poisson's BSplineData [#2572]
  • ⚠ Suppress miscelanious warnings [#2556]
  • ➕ Add some missing eigen alignment operators [#2433]
  • 👉 Make pcl::MovingLeastSquares thread-safe [#2418]
  • [abi] Missing pcl::MovingLeastSquaresOMP declaration without /openmp [#2324]
  • [abi] Improved docstrings and error messages [#2300]
  • opennurbs: fix ON_Curve::EvaluatePoint calculation [#2185]
  • [removal] Removal of deprecated code in filters, io, surface and visualization modules [#2077]
  • ⚠ Suppress (maybe) uninitialized warning [#2073]
  • ⚠ Suppress sign compare warnings [#2068]
  • 🛠 Fix incorrect Ptr/ConstPtr typedefs in MovingLeastSquaresOMP [#2055]
  • Replace float indices with Eigen Index [#2017]
  • 🗄 [api][deprecation][new-feature] Add new mls projection method. Deprecated MovingLeastSquares::setPolynomialFit(). [#1960]
  • Avoid phantom surfces in marching cubes hoppe [#1874]
  • [api] Add ability to cache mls results [#1952]

  libpcl_visualization:

  • 💅 Made PCLVisualizerInteractorStyle::CloudActorMapPtr public. [#2542]
  • [new-feature] Add Viridis color LUT [#2420]
  • ⚡️ Update sha1 header inclusion for Boost 1.68+ [#2373]
  • Second change VTK version check in addTextureMesh [#2322]
  • Include missing vtkTexture.h. Follow up on #2291 [#2316]
  • 🔄 Change VTK version check in addTextureMesh [#2311]
  • ✂ Remove depreciated VTK function MapDataArrayToMultiTextureAttribute [#2291]
  • Warn and skip adding normal cloud if it is empty [#2265]
  • [api] Fix access specifier in PointCloudColorHandlerRGBAField [#2226]
  • Check if color handler returns false [#2209]
  • 🖐 Handle VTK legacy function (follow up to #2112) [#2165]
  • 🔀 Travis merge test jobs. Expose VTK include directory for the visualization module. [#2163]
  • 🛠 Small optimizations and fixes in PCLVisualizer [#2112]
  • ➕ Add another variant to getPointCloudRenderingProperties() [#2142]
  • Restrict accepted types in PCLVisualizer::addLine signature [#2134]
  • Typo fix in error message. [#2132]
  • 🛠 Fix add/remove of 3D text without custom viewport [#2110]
  • ➕ Add octree dependency to visualization [#2115]
  • 🛠 Fix pcd_viewer color handling when invalid fields are present in pcd [#2105]
  • ➕ Add pcl visualizer interactor null guards [#2104]
  • ➕ Add remove text3d [#2088]
  • Replace auto_ptr with scoped_ptr [#2037]
  • [removal] Removal of deprecated code in filters, io, surface and visualization modules [#2077]
  • ⚠ Suppress sign compare warnings [#2068]
  • [new-feature] Add overload to PCLVisualizer::addText3D() that allows specifying text orientation [#2038]
  • ➕ Add new constructors to PCLVisualizer [#2004]
  • 🛠 Fix bug in PointCloudGeometryHandlerCustom [#2001]
  • Add missing PCL_EXPORTS in pcl_visualizer.h [#1995]
  • [abi] Add accessor for current rendering framerate in PCLVisualizer [#1974]
  • 👍 Allow changing LUT properties of a shape actor [#1668]
  • 🛠 Fixed spelling and grammar errors [#1959]
  • 🛠 Fixed error in documentation. [#1957]

  PCL Apps:

  • ⚠ Suppress miscelanious warnings [#2556]
  • Fix 3d_rec_framework compilation error [#2495]
  • 🛠 Fix compilation issue in point cloud editor. [#2490]
  • demean_cloud correct usage message. [#2443]
  • Do not use deprecated method in openni_mls_smoothing app [#2421]
  • ➕ add windows.h for includes GL/gl.h; handle cancel for denoiseWidget. [#2267]
  • ➕ Add missing dependecy to apps [#2251]
  • ⚠ Suppress the final set of warnings in pcl apps [#2082]
  • [abi] More warning suppression in pcl apps [#2080]

  📄 PCL Docs:

  • 🛠 Fix misc. typos in tutorials and docstrings [#2529]
  • 🛠 Fix various errors and typos in the docstrings and tutorials [#2486]
  • 📄 Docstring typos' corrections. [#2449]
  • demean_cloud correct usage message. [#2443]
  • Set IMAGE_PATH explicitly in Doxygen config [#2442]
  • Switch to using client-based search in Doxygen [#2391]
  • [api] Misc. typos (cont.) [#2215]
  • ✏️ doc: misc. typos [#2213]
  • ➕ Add url to API/ABI compatibity report [#2116]
  • 👌 Improve Doxygen comments for HistogramInterpolationMethod [#2111]
  • ⚡️ Update organized.h [#1965]
  • Typo [#1968]
  • 🛠 Fixed spelling and grammar errors [#1959]
  • 🛠 Fixed error in documentation. [#1957]

  PCL Tutorials:

  • 🛠 Fix dataset link in conditional euclidean clustering tutorial [#2546]
  • 🛠 Fix dead links in Walkthrough tutorial [#2532]
  • Simplify explanation of PointXYZ structure in "Writing PCD" tutorial [#2534]
  • 🛠 Fix misc. typos in tutorials and docstrings [#2529]
  • 🛠 Fix a dead link to Radu Rusu's dissertation in the tutorial. [#2508]
  • 🛠 Fix various errors and typos in the docstrings and tutorials [#2486]
  • Fix link to Institut Maupertuis's ensenso_extrinsic_calibration repo [#2447]
  • ➕ Add settings for hypothesis verification [#2274]
  • 🛠 Fix ICP tutorial [#2244]
  • 🛠 Fix error in example code for estimate set of surface for a subset of points in the input dataset [#2203]
  • ⚡️ Update message about legacy point cloud types in tutorial [#2175]
  • ➕ Add descriptor unpacking to GASD tutorial [#2167]
  • 🛠 Fix convert to Eigen::Map<const Eigen::Vector3f> from Normal of pcl::PointXYZINormal [#2128]
  • 🛠 Fix the tutorial qt_visualizer compilation issue: qt4 -> qt5. [#2051]
  • 🛠 Fix several documentation typos [#2020]
  • Replace literal include of wrong CMakeLists file with correct script [#1971]
  • ⚡️ Update Ensenso tutorial for Ensenso X devices [#1933]

  PCL Examples:

  • ⚠ Suppress strict alias warning [#2072]
  • ⚠ Suppress (maybe) uninitialized warning [#2073]
  • 🛠 Fix CPC/LCCP segmentation examples for VTK 7.1 [#2063]

  ✅ PCL Tests:

  • 🏁 Corrections to Windows unit tests. [#2596]
  • ✅ Relax eigen22f test criteria [#2553]
  • ✅ Solve issues with failing features tests [#2544]
  • ✅ Relax requirements in eigen22d test. Always provide a normalized result in pcl::transformPlane. [#2503]
  • ✅ Enable tests_2d and tests_io in AppVeyor. [#2505]
  • ✅ Relax threshold in Hough3DGrouping test [#2507]
  • ✅ Relax precision requirements on TransformationEstimationLM test. [#2497]
  • ✅ Relax rejector threshold in JointIterativeClosestPoint test. [#2496]
  • 📜 vtk2mesh: Add parsing support to the new RGBA scalar field added in vtk8 [#2492]
  • ✅ Revise direction test in SampleConsensusModelParallelLine/RANSAC to be consistent with set tolerance. [#2491]
  • ✅ Make test conditions consistent with OctreePointCloudSearch::boxSearch() implementation. [#2457]
  • Increase threshold for expected value in test_non_linear [#2424]
  • Replace floating point numerals when using boost::posix_time. Fix compatibility with Boost 1.67. [#2422]
  • ✅ Cleanup and improve unit test coverage for transformPointCloud functions [#2245]
  • 🛠 Fixes and new assertion macro in "pcl_tests.h" [#2237]
  • ➕ Add new gtest path [#1920]

  PCL Tools:

  • Allow the pcl_uniform_sampling tool to deal with several formats (PCD, PLY and VTK) as input or output point cloud [#2348]
  • 👍 mesh_sampling tool: Add support for colors [#2257]
  • Error message on non-recognized feature names [#2178]
  • ⚠ Suppress sign compare warnings [#2068]
  • [OCTREE] Compute accurately the centroids of octree in 'pcl_octree_viewer' [#1981]
  • 🗄 [api][deprecation][new-feature] Add new mls projection method. Deprecated MovingLeastSquares::setPolynomialFit(). [#1960]
  • [OCTREE] Fix pcl_octree_viewer [#1973]
  • 🚚 [OCTREE] Remove a useless field in octree_viewer. [#1980]

  CI:

  • ⚡️ Disable Travis email notifications. Update PCL logo endpoint. [#2535]
  • Migrate Travis to the new travis-ci.com platform [#2538]
  • ✅ Enable tests_2d and tests_io in AppVeyor. [#2505]
  • 🛠 Fix docs on Travis CI. [#2441]
  • Disable SSE flags in AppVeyor. [#2438]
  • 🏗 Split (yet again) Travis test job into two and tweak timings in building apps [#2182]
  • [new-feature] Enable Global Tests on Windows CI [#2137]
  • 🔀 Travis merge test jobs. Expose VTK include directory for the visualization module. [#2163]
  • ✂ Remove unnecessary PPAs and packages from Travis [#2153]
  • 💅 AppVeyor - Change to simple style of specify triplet [#2135]
  • 🎉 Initial Appveyor CI integration [#2083]
  • 🔄 Change Travis to use pip3 for installing sphinx [#2124]
  • 🏗 [TRAVIS] Enable the build of apps. [#2012]
  • 🏗 [TRAVIS] Enable the build of tools. [#2007]
  • 🏗 Disable tools build in CI. [#2003]

• v1.8.1 Changes

  August 08, 2017

  🔄 ChangeList

  • Replaced make_shared invocations on aligned allocated vars
    [#1405]
  • Created an issue template for bug reporting
    [#1637]
  • PCL logo image is now locally available
    [#1677]
  • ⚡️ Updated the Windows all in one installer for MSVC15
    [#1762]
  • ➕ Added compile support to VTK 7.1
    [#1770]
  • 🛠 Fixed badges markup in README.md
    [#1873]
  • 💅 Replaced C-style sqrtf with std::sqrt
    [#1901]

  CMake:

  • Tweaks to PCL_DEFINITIONS behavior (to be deprecated in future
    🔖 versions)
    [#1478]
  • 🔧 VTK directory can now be manually specified during configuration
    [#1605]
  • ⚡️ Updated the find Boost cmake macro to support the latest versions plus
    exported definitions now give priority to finding the same Boost version
    PCL was compiled with.
    [#1630]
  • Corrected PCL_ROOT in PCLConfig.cmake
    [#1678]
  • ✂ Removed automatic override of VTK_LIBRARIES
    [#1760]
  • ⚡️ Updated find boost versions
    [#1788]
    [#1855]
    [#1856]
  • ⚡️ Updated CUDA compute capabilities
    [#1789]
  • Extend linking of delayimp.lib to all MSVC version
    [#1823]
  • Removal of MSVCxx variables
    [#1830]
  • 🛠 Fixed path link to Documents of Windows Start-Menu
    [#1857]
  • 🛠 Fixed CPack for Documents
    [#1858]
  • 🛠 Fixed bug present when Ensenso SDK path included spaces
    [#1875]
  • 👮 -D_FORCE_INLINES definition added for CUDA targets to prevent
    issues between old versions of the CUDA Toolkit and new versions
    of gcc
    [#1900]
  • Implemented new versioning scheme for PCL, employing the suffix
    🚀 -dev in between releases.
    [#1905]
  • 🏁 Corrected search paths for Eigen on Windows
    [#1912]
  • SSE definitions are now exported and cleanup of Eigen's
    definitions
    [#1917]
  • ➕ Added support to dynamic linking against FLANN on Windows
    [#1919]
  • ➕ Add new search path for GTest to the finder script
    [#1920]
  • 🛠 Fix discovery of PCL deployed out of install path
    [#1923]

  libpcl_2d:

  • ✂ Removed the non-free lena-grayscale-png image :(
    [#1676]
  • 2d library is no longer generated since it contained no symbols
    [#1679]

  libpcl_common:

  • 🔄 Changed default alpha value to 255 on all RGB(A) point types
    [#1385]
  • 🛠 Fixed an issue preventing aligned memory allocation on 32-bit Windows
    systems
    [#1665]
  • 🛠 Fixed compile error on test_common on MSVC
    [#1689]
  • 🛠 Fixed parallel plane test condition on pcl::planeWithPlaneIntersection
    [#1698]
  • 🛠 Fixed endless loop condition in compute3DCentroid
    [#1704]
  • toPCLPointCloud2 is not resilient to an empty pointcloud input
    [#1723]
  • Normal accumulator normalized() is now resilient to a 0 filled vector
    [#1728]
  • Defined additional types in PointCloud to ensure STL container
    compatibility
    [#1741]
  • Aligned malloc now works on Android as well
    [#1774]
  • ➕ Added missing include to boost shared_ptr in vertices
    [#1790]
  • Prevent incorrect copy of adjacent point in fromPCLPointCloud2()
    [#1813]
  • ⏪ Restored Eigen::umeyama for Eigen 3.3+
    [#1820]
    [#1887]
  • 🛠 Fixed type in deprecation messages
    [#1878]
  • 👌 Improved support for mingw aligned allocation
    [#1904]
  • 👉 Added test for macro _USE_MATH_DEFINES to avoid warnings
    [#1956]

  libpcl_cuda:

  • 🛠 Fixed macro definitions for the Windows platform
    [#1568]

  libpcl_features:

  • NormalEstimation[OMP] and FPFHEstimation[OMP] are now instantiated for
    the same types as the non OMP variants.
    [#1642]
  • Prevention of the addition of duplicate keys in PFHEstimation
    [#1701]
  • 🐛 Bug fixes in OUR-CVFH
    [#1827]
  • 🛠 Fixed incorrect initialization of SHOT
    [#1859]
    [#1876]

  libpcl_filters:

  • 🖨 ExtractIndices filter now aborts prematurely and prints error verbose
    in case it detects an index which exceeds the size on the input data
    [#1670]
  • Potential reduction of computational time of ModelOutlierRemoval
    [#1735]
  • 👌 Improved code readability in CropBox
    [#1817]

  libpcl_gpu:

  • ➕ Added support to NVidia Pascal GPUs
    [#1824]
  • 🛠 Fixed compilation error in KinfuLS
    [#1872]
  • 🛠 Fixed CUDA architecture check
    [#1872]

  libpcl_io:

  • RGB values are now always saved as uint32 on PCD files
    [#1385]
  • 🛠 Fixed find RealSense macro and compilation error with RealSenseGrabber
    🏁 on Windows
    [#1560]
  • Unified verbose on OctreePointCloudCompression
    [#1569]
  • 👌 Improved performance on saving PLY, OBJ and VTK files
    [#1580]
  • ➕ Added support to the transparency property Tr on pcl::MTLReader
    📜 and fixed issue with parsing of the material's properties.
    [#1599]
  • 🛠 Fixed function signature mismatch in auto_io
    [#1625]
  • 🛠 Fix ASCIIReader::setInputFields interface
    [#1690]
  • ✅ Adopted pcl_isnan in test_buffers to prevent compilation problems on
    MSVC12
    [#1694]
  • 🛠 Fixed incorrect laser number test condition in VLP Grabber
    [#1697]
  • 🛠 Fixed bug verbose output of compression statistics
    [#1749]
  • 🛠 Fixed a bug in the parsing of PLY headers
    [#1750]
  • Replacement of boost::math::isnan by pcl_isnan
    [#1766]
  • Binary files written by PCDWriter now have the same permissions
    as the ASCII ones
    [#1779]
  • 🛠 Fixed ODR violation when compiling with both OpenNI and OpenNI2
    [#1818]
  • PLYReader now also accepts the property vertex_index
    [#1847]
  • 🛠 Fixed bug in return value of pcl_converter
    [#1903]

  libpcl_keypoints:

  • 🛠 Fixed memory leak in ISSKeypoint3D
    [#1815]

  libpcl_octree:

  • 🛠 Fixed unexpected octree boundaries' reduction
    [#1532]
    [#1906]
  • 🛠 Fixed octree precompilation mechanism
    [#1639]
    [#1916]
  • 🛠 Fixed invalid cast in OctreePointCloudVoxelCentroid
    [#1700]

  libpcl_recognition:

  • 🛠 LineMOD bug fixes
    [#1835]
  • ✂ Removed redundant definition of point types
    [#1836]

  libpcl_registration:

  • 🛠 Fixed GICP behavior when a guess is provided
    [#989]
  • 🛠 Fixed compilation issues in NDT 2D with Eigen 3.3
    [#1821]
  • NDT 2D state is now properly initialized
    [#1731]

  libpcl_sample_consensus:

  • 👌 Improved error verbose in
    ⚡️ SampleConsensusModelPlane::optimizeModelCoefficient
    [#1811]

  libpcl_segmentation:

  • 🛠 Fixed bug in organized multiplane segmentation refine function where label
    ⚡️ indices were not being updated correctly
    [#1502]
  • Corrected function signature in lccp segmentation
    [#1761]
  • 🛠 Fixed bug in boundary checking in Organized Connected Component
    Segmentation
    [#1800]
  • 📚 Clarified documentation in Super Voxel Clustering
    [#1804]
  • 🛠 Fixed bug causing unnecessary computation in Region Growing
    [#1882]

  libpcl_surface:

  • Double pass mean and covariance estimation are now employed in
    ConcaveHull::reconstruct
    [#1567]
  • 🛠 GP3 bug fixes
    [#1850]
    [#1879]
  • 🛠 Fixed buggy index cast in bilateral upsampling
    [#1914]

  libpcl_visualization:

  • 🛠 Fixed bug in addPointCloudNormals which was ignoring view point information
    [#1504]
  • 🛠 Fixed bug camera FOV computation in PCLVisualizerInteractorStyle
    [#1611]
  • 🛠 Fixed a MSVC compilation error with the colormap LUT
    [#1635]
  • Abort prematurely when the camera file cannot be opened on
    💅 PCLVisualizerInteractorStyle
    [#1776]
  • 🛠 Fix to addText3D
    [#1805]
  • ➕ Added some exception guards in OpenNI and OpenNI2 Viewer tools
    [#1862]

  PCL Apps:

  • 🛠 Fixed bug in point cloud editor app which allowed to select points behind
    the camera
    [#1539]
  • 🏗 Explicitly define OpenGL headers to fix build on Ubuntu arm64
    [#1715]
  • 🚦 Replaced the use of slot and signals keywords in QT apps for
    🚦 their Q_* counterparts to present name clashes with Boost Signals
    [#1898]

  📄 PCL Docs:

  • 🛠 Fix docs generation on Windows
    [#1717]

  ✅ PCL Tests:

  • 🏗 Modularized the build of unit tests.
    [#1768]
  • Removed invalid test condition on test_common_io
    [#1884]

  PCL Tools:

  • mesh2pcd has now an option to explicitly disable visualization
    [#1768]
  • mesh_sampling has now an option to explicitly disable visualization
    [#1769]
  • Mesh sampling now has an option to include normal information
    [#1795]
  • 🛠 Fixed incorrect return value in pcl_converter
    [#1903]

  PCL Tutorials:

  • 🛠 Fixed a crash in the pcl_visualizer tutorial triggered in interactive
    mode
    [#1631]
  • 🛠 Fixed hyperlink in narf keypoint extraction
    [#1777]
  • Typo corrections in random sample consensus
    [#1865]
  • ⚡️ Updated matrix transform tutorial and added cube.ply mesh
    [#1894]
    [#1897]
  • ⚡️ Updated Ensenso tutorial for Ensenso X devices
    [#1933]

  CI:

  • ↪ Applied a workaround to a regression bug introduced by doxylink
    🏗 in the docs build job
    [#1784]
  • 🔨 Build jobs refactoring
    [#1768]
  • 🏗 Enable ccache to speed up builds in CI
    [#1892]

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