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PCL v0.9.0 Release Notes

Release Date: 2011-02-08 // about 13 years ago

    • [[pcl]]

      • optimizations for dense dataset (no checking for isfinite inside the loop unless is_dense is false)
      • improved eigen decomposition pcl::eigen33 by better handling degenerate cases. Normal estimation should work better now.
      • more 32bit alignment fixes
      • improved Doyxgen documentation
      • added POINT_CLOUD_REGISTER_POINT_STRUCT for Narf36
      • fixed a minor bug in poses_from_matches where a distance was not computed correctly
      • disabled TBB classes until 1.0 comes out
      • fixed a few bugs in ICP_NL registration (thanks Mike!)
      • enforced const-ness for pcl::ArrayXfMap and pcl::VectorXfMap, by creating pcl::ArrayXfMapConst and pcl::VectorXfMapConst for maps over const types
      • improved Windows support
      • fixed a bug in StatisticalOutlierRemoval where the output data array was set incorrectly.
      • fixed a boost::split bug in pcd_io, for cases when point data starts with spaces or tabs
      • finalized the surface reconstruction (pcl::SurfaceReconstruction) API
      • added a new method for surface reconstruction using grid projections (pcl::GridProjection)
      • added a new generalized field value filter (pcl::ConditionalRemoval)
      • cleaned up normal estimation through integral images
      • PCL rift.hpp and point_types.hpp fixed for Windows/VS2010
      • fixed all is_dense occurrences
      • unmanged all Eigen3:: calls to Eigen::
      • changed all !isnan checks to isfinite in order to catch INF/-INF values
      • added vtk_io tools for saving VTK data from PolygonMesh structures
      • fixed SACSegmentation::SACMODEL_CIRCLE2D: to accept setRadius limits
      • use SACSegmentation when the model doesn't fit SACSegmentationFromNormals (assert fix)

    • [[pcl_ros]]

      • added a mutex for configuration parameters and filter computation, to prevent changing parameters while the algorithm is running. Alternative: copy parameters before the compute loop.
      • pcd_to_pointcloud has been updated to take a private parameter "frame_id" which is used in publishing the cloud
      • unmangled all Eigen3:: calls to Eigen::
      • Document cloud to image conversion.
      • http://www.ros.org/wiki/pcl_ros/Tutorials/CloudToImage
      • Removed the tool from pcl , and moved to pcl_ros