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PCL v1.12.0 Release Notes

  • 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]