Point Cloud Library (PCL)

Last update: Dec 31, 2022

Overview

Point Cloud Library

Website

The new website is now online at https://pointclouds.org and is open to contributions 🛠️ .

If you really need access to the old website, please use the copy made by the internet archive. Please be aware that the website was hacked before and could still be hosting some malicious code.

Continuous integration

Build Platform	Status
Ubuntu
Windows
macOS
Documentation

Community

Distribution

Click to see all

Description

The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

PCL is released under the terms of the BSD license, and thus free for commercial and research use. We are financially supported by a consortium of commercial companies, with our own non-profit organization, Open Perception. We would also like to thank individual donors and contributors that have been helping the project.

Compiling

Please refer to the platform specific tutorials:

Documentation

Contributing

Please read CONTRIBUTING.md.

Issues

To report issues, please read CONTRIBUTING.md#bug-reports.

For general questions on how to use the PCL, please consider one of the following alternatives instead:

Stack Overflow for Q&A as well as support for troubleshooting, installation and debugging. Do remember to tag your questions with the tag point-cloud-library.
Discord Server for live chat with other members of the PCL community and casual discussions

Citation

We encourage other researchers to cite PCL if they use PCL or its components for their work or baselines. The bibtex entry for the same is

@InProceedings{Rusu_ICRA2011_PCL,
  author    = {Radu Bogdan Rusu and Steve Cousins},
  title     = {{3D is here: Point Cloud Library (PCL)}},
  booktitle = {{IEEE International Conference on Robotics and Automation (ICRA)}},
  month     = {May 9-13},
  year      = {2011},
  address   = {Shanghai, China},
  publisher = {IEEE}
}

Comments

Octree container rework
This is an extension of @taketwo 's Pull Request #471. In addition to the changes discussed in that request, it:

Removes the octree_pointcloud_adjacency_container.h as a separate file and merges it into octree_container.h

Adds octree_leaf_data.h and octree_leaf_data.hpp which contain @taketwo 's new AveragePoint container and accumulator helper structures.

Renames OctreePointCloudAdjacencyContainer to OctreeAdjacencyContainer to follow the convention of the other containers

Removes point counting from OctreeAdjacencyContainer - this is now internal to the data stored within the leaf container.

Updates SupervoxelClustering class to use the new OctreeAdjacencyContainer

A further extension of this pull request should update the rest of the containers (most importantly OctreePointCloudVoxelCentroid ) to use this new leaf data container functionality.

A further commit should update SupervoxelClustering to use @taketwo 's accumulators internally rather than the explicit instantiations it currently uses inside of its VoxelData.
opened by jpapon 148
Add RSSDK 2.0 (librealsense2) grabber
Hi PCL team - @patrickabadi has implemented a librealsense 2.0 based RealSense2Grabber, and we'd like to make a contribution. I noticed the last comment on #1633 implies @UnaNancyOwen was planning to implement a librealsense 2.0 grabber, but maybe this will provide a good starting point that covers a lot of the boilerplate cmake configuration.

quick notes:

we have only tested on windows 10

we have only tested with v2.10 of librealsense

if you try to use librealsense with Qt5, you will be affected by the macro issue reported here: https://github.com/IntelRealSense/librealsense/issues/1059

needs: testing changelog: new feature module: io
opened by daniel-packard 79
SampleConsensusPrerejective does work with pcl::PointXYZ but not with pcl::PointNormal

Hi

I wrote a code 2 years ago where i used pcl::SampleConsensusPrerejective with FPFHSignature where template parameters were like Pcl::SampleConsensusPrerejective <pcl::PointNormal, pcl::PointNormal, pcl::FPFHSignature33 >

I updated pcl 1 year ago (trunk) and my code was since that not working any more (resulting 4x4 transformation matrix was very strange, all zero in last row). Though I now need that code part again and I hoped that I made something wrong in compilation (or there is any bug), so I updated to current trunk yesterday and recompiled pcl again, but same behavior. To search the error I checked out the pcl test “test_registration.hpp”. The only difference in usage I found was that there they used the class like Pcl::SampleConsensusPrerejective <pcl::PointXYZ, pcl:: PointXYZ, pcl::FPFHSignature33 > So I did the same, and surprise, it worked again…

So I am using Visual Studio 2013 x64 and one big change I found 1 year ago was the PCL_ONLY_CORE_POINT_TYPES flag which must be enabled since one year because of some visual studio limitations…

Any suggestions whats running wrong?

Best regards

opened by GeraldLodron 78
Lccp

This pull-request is part of the GSOC 2014 project of Markus Schoeler (Automated benchmark generation for object-part segmentation).

It contains an implementation of the lccp segmentation published in: S. C. Stein, M. Schoeler, J. Papon, F. Woergoetter Object Partitioning using Local Convexity In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2014

In addition, it contains an example "example_lccp_segmentation.cpp" which shows how to use the lccp segmentation.

opened by mschoeler 75
1.9.0 Release
Task list

[x] Go through all PRs for the milestone

[x] Update Changelog

[x] Start a release branch

[x] (If needed) Revert whatever unintentional API/ABI breakage that might have occurred in the release branch

[x] Bump version to x.x.x in CMakeLists.txt

[x] Bump version off the release badge in README.md

[x] Find replace all occurrences of x.x.x.99 CMake requirements in the tutorials and examples

[x] Try to build and test on all relevant platforms

[x] Finalize changelog and fix the release date

[x] Tag

[x] Remove the release branch

[x] Add binaries to the GitHub release page.

[x] Add link doc link to tutorials page

[x] Bump version to x.x.x-dev in CMakeLists.txt

[ ] Send announcements to the mailing lists

[ ] Throw a party!
opened by SergioRAgostinho 74
Move SSE compiler options to `PCL_COMPILE_OPTIONS`. Expose PCL as a CMake imported target.
This PR ensures the SSE compiler options are passed properly downstream. After reading the descriptions for

https://cmake.org/cmake/help/v3.0/command/target_compile_definitions.html#command:target_compile_definitions https://cmake.org/cmake/help/v3.0/command/target_compile_options.html?highlight=target_compile_options

I opted to create the new var PCL_COMPILE_OPTIONS that should be used by downstream projects like this

cmake_minimum_required(VERSION 3.0.0 FATAL_ERROR) project(my_awesome_project VERSION 0.1.0 LANGUAGES CXX) find_package(PCL 1.8.1.99 REQUIRED) add_executable (${PROJECT_NAME} "${PROJECT_NAME}.cpp") target_include_directories(${PROJECT_NAME} PUBLIC ${PCL_INCLUDE_DIRS}) target_link_libraries (${PROJECT_NAME} ${PCL_LIBRARIES}) target_compile_definitions(${PROJECT_NAME} PUBLIC ${PCL_DEFINITIONS}) target_compile_options(${PROJECT_NAME} PUBLIC ${PCL_COMPILE_OPTIONS})

Fixes #2013, fixes #1725

Edit (IMPORTANT)

This PR also upgrades "PCLConfig.cmake". From now on, only the following two lines are necessary to use PCL in downstream projects:

find_package(PCL REQUIRED) target_link_libraries (${PROJECT_NAME} ${PCL_LIBRARIES})

The target_include_directories, target_compile_definitions, and target_compile_options mentioned above are superfluous (but they don't hurt and may be kept for compatibility with older PCL versions).
changelog: enhancement module: cmake
opened by SergioRAgostinho 71
Improve environment Dockerfile
Several improvements related to the Dockerfile

Planed adjustments

[x] Fix version checking that was giving incorrect results in the upcoming version of Eigen3, as only the patch version was checked.

[x] Version of RealSense is now configurable

[x] Version of EnsensoSDK is now configurable

[x] Install Clang-Tidy ~~Add Option to install Clang-Tidy => Preparation to integrate it maybe here~~

Optional adjustments

[x] Make version of Eigen3 configurable => Easier test of newer version

~~Use more modern GCC version for newer version of GCC/Clang (for GCC you can find a matrix here) (or stay on a fixed version of GCC?)~~

[x] Remove USE_CUDA and enable CUDA when CUDA_VERSION is set (current default is 9.2, but there exists no image with ubuntu20.04 and CUDA 9.2)

I updated version of EnsensoSDK & RealSense, but couldn't try EnsensoSDK 3.0 as even with the pointcloudlibrary/env:20.04 I currently have build issues

//Edit: See commit message or diff for more details
module: ci
opened by SunBlack 65
OpenNI 2 grabber

Experimental version of an OpenNI 2.x grabber.

I tested the existing OpenNI 1.x grabber under VS2010 and did not find any obvious regressions or errors with this code in place, so the two should be able to coexist as long as they are not built at the same time. There is a CMake check preventing this.

Several apps and example programs break encapsulation and directly use OpenNI 1.x data structures, so they will not work with the new grabber until this is fixed.

Linux compatibility has not been tested, but I expect the new grabber will fail to build until FindOpenNI2.cmake is updated with the correct default paths.

opened by kwaegel 62
Implementation of the iterator 'OctreeFixedDepthIterator'.

Add an octree iterator to walk over the OctreeBranch at the same depth. The code relies really on the iterator OctreeBreadthFirstIterator.

The file octree_viewer.cpp has been updated to use this iterator.

To maintain to homogenity for the different octree class, more things should be done I think. Wait for checking.
changelog: new feature changelog: ABI break module: octree

opened by frozar 57
1.8.1 Release
Task list:

[x] Go through all PRs for the milestone

[x] Update Changelog #1682

[x] Start a release branch

[x] Revert #1587

[x] Bump version to 1.8.1 in CMakeLists.txt

[x] Try to build and test on all relevant platforms

[x] Finalize changelog and fix the release date

[x] Tag

[x] Remove the release branch

[x] Add Windows installers to GitHub release page

[x] Add OSX installers to GitHub release page

[x] Add link doc link to tutorials page

[x] Bump version to 1.8.1-dev in CMakeLists.txt

[x] Send announcements to the mailing lists

[x] Throw a party!

Future people: Don't forget to revise all new tutorials to modify the minimum required version from 1.x.x.99 to whatever the new version is.
opened by SergioRAgostinho 57

Undefined reference to LZ4_decompress_fast, LZ4_compressHC

I'm building on a Linux machine and getting the following errors:

[ 80%] Built target pcl_add_gaussian_noise
Linking CXX executable ../bin/pcl_boundary_estimation
../lib/libpcl_kdtree.so.1.7.2: undefined reference to `LZ4_decompress_fast'
../lib/libpcl_kdtree.so.1.7.2: undefined reference to `LZ4_compressHC'
collect2: ld returned 1 exit status
make[2]: *** [bin/pcl_boundary_estimation] Error 1
make[1]: *** [tools/CMakeFiles/pcl_boundary_estimation.dir/all] Error 2
make: *** [all] Error 2

I don't see anywhere in the CMakeCache.txt to set the LZ4 directory. I also don't see what in FLANN, but I assume this is a problem with PCL based on where the error is showing up.

opened by translunar 54

How to close PCL_ERROR ("[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());?

VERSION

Ubuntu 18.04 ROS
PCL 1.81

Problem Description

When i use seg.segment(*inliers, *coefficients), always print the PCL_ERROR.
I know there is not inliers, but I dont want to print this error.

Try Solve, but Not Work!

in pcl-1.8/pcl/sample_consensus/impl/sac_model_plane.hpp

if (inliers.size () <= sample_size_)
  {
    // PCL_ERROR ("[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (%lu)! Returning the same coefficients.\n", inliers.size ());
    optimized_coefficients = model_coefficients;
    return;
  }

[2022-12-28 16:20:58.402][info][OctomapServer]:PCL segmentation did not find any plane.
[2022-12-28 16:20:58.402][warn][OctomapServer]:No ground plane found in scan
[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (0)! Returning the same coefficients.
[2022-12-28 16:20:58.568][info][OctomapServer]:PCL segmentation did not find any plane.
[2022-12-28 16:20:58.568][warn][OctomapServer]:No ground plane found in scan
[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (0)! Returning the same coefficients.
[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (0)! Returning the same coefficients.
[2022-12-28 16:20:58.671][info][OctomapServer]:PCL segmentation did not find any plane.
[2022-12-28 16:20:58.671][warn][OctomapServer]:No ground plane found in scan
[2022-12-28 16:20:58.676][info][OctomapServer]:PCL segmentation did not find any plane.
[2022-12-28 16:20:58.676][warn][OctomapServer]:No ground plane found in scan
[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (0)! Returning the same coefficients.
[2022-12-28 16:20:58.815][info][OctomapServer]:PCL segmentation did not find any plane.
[2022-12-28 16:20:58.815][warn][OctomapServer]:No ground plane found in scan
[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to optimize model coefficients (0)! Returning the same coefficients.
[2022-12-28 16:20:58.975][info][OctomapServer]:PCL segmentation did not find any plane.

please help me, thank you

kind: question status: triage

opened by why-freedom 1

)" while using PCL-1.12.1-AllInOne-msvc2019-win64 binaries.">
LNK2019 unresolved external symbol "__declspec(dllimport) public:__cdeclQVTOpenGLNativeWidget::QVTKOpenGLNativeWidget(Class QWidget *, class QFlags)" while using PCL-1.12.1-AllInOne-msvc2019-win64 binaries.
Background We have a small app that shows Point Cloud points. previously our app was using PCL 1.9.1 with its dependencies (boots 1.59.0, Eigen 3.3.7, Flann 1.8.5, VTK 8.2.0 with qt 5.7.1, QHull 8.0.2, OpenNi2 2.2.0.33) and QVTKWidget for visualization. The App was working totally fine but we came to know that in the new version of VTK 9 the QVTKWidget is deprecated and if we update the PCL 1.12.1 version then we need to update the Widget from QVTKWidget to its alternative QVTKOpenGLNativeWidget.

Error Description So to update the PCL version from 1.9.1 to 1.12.1 we have downloaded PCL-1.12.1-AllInOne-msvc2019-win64 pre-build binaries from PCL's official GitHub release page. extracts all binaries with their dependencies updated our project CMake file and links new PCL binaries with our project first when we replaced #include <QVTKWidget.h> to #include <QVTKOpenGLNativeWidget.h> then this header file is not found. our Cmake and everything was correct. after some investigation, we discovered that the VTK version was packed with PCL-1.12.1-AllInOne-msvc2019-win64 pre-build binaries that are without QT support so that's why it does not have any GUI or QT-supported header files and libs. Then we build VTK 9.1 (with all of its GUI components) with QT 5.15 locally and place it in the PCL dependencies directory /3rdParty/VTK link will our App. the header not found issue is resolved but we got an undefined symbol error of newly updated widget QVTKOpenGLNativeWidget.

Environment:

OS: Windows 11

Compiler: MSVC 2019

PCL Version: 1.12.1

PCL Type: Pre-build Binaries PCL-1.12.1-AllInOne-msvc2019-win64

Solution After some investigation, we found that QVTKOpenGLNativeWidget is defined in the GUISupportQt component of VTK while in PCLConfig.cmake (shipped with PCL-1.12.1-AllInOne-msvc2019-win64) at line 494 are not including VTK GUISupportQt component that's why we're getting undefined symbol errors. these are the components that are only included in shipped PCLConfig,cmake a file

# VTK components required by PCL set(PCL_VTK_COMPONENTS "ChartsCore;CommonColor;CommonComputationalGeometry;CommonCore;CommonDataModel;CommonExecutionModel;CommonMath;CommonMisc;CommonTransforms;FiltersCore;FiltersExtraction;FiltersGeneral;FiltersGeometry;FiltersModeling;FiltersSources;ImagingCore;ImagingSources;InteractionImage;InteractionStyle;InteractionWidgets;IOCore;IOGeometry;IOImage;IOLegacy;IOPLY;RenderingAnnotation;RenderingCore;RenderingContext2D;RenderingLOD;RenderingFreeType;ViewsCore;ViewsContext2D;RenderingOpenGL2")

we have to update the above line with the following line which included all of the following VTK components GUISupportQt, GUISupportQtQuick, GUISupportQtSQL, RenderingQt, ViewsQt, CommonSystem;glew, RenderingUI, vtksys, freetype, kissfft, pugixml, loguru, InfovisCore, FiltersHybrid, FiltersTexture, ImagingGeneral;ImagingHybrid, FiltersStatistics, ParallelDIY, ParallelCore, ImagingColor, DICOMParser, metaio;png, tiff, zlib, jpeg;fmt, doubleconversion, IOXML, IOXMLParser, jsoncpp, lz4, lzma, and expat. as

set(PCL_VTK_COMPONENTS "ChartsCore;CommonColor;CommonComputationalGeometry;CommonCore;CommonDataModel;CommonExecutionModel;CommonMath;CommonMisc;CommonTransforms;FiltersCore;FiltersExtraction;FiltersGeneral;FiltersGeometry;FiltersModeling;FiltersSources;ImagingCore;ImagingSources;InteractionImage;InteractionStyle;InteractionWidgets;IOCore;IOGeometry;IOImage;IOLegacy;IOPLY;RenderingAnnotation;RenderingCore;RenderingContext2D;RenderingLOD;RenderingFreeType;ViewsCore;ViewsContext2D;RenderingOpenGL2;GUISupportQt;GUISupportQtQuick;GUISupportQtSQL;RenderingQt;ViewsQt;CommonSystem;glew;RenderingUI;vtksys;freetype;kissfft;pugixml;loguru;InfovisCore;FiltersHybrid;FiltersTexture;ImagingGeneral;ImagingHybrid;FiltersStatistics;ParallelDIY;ParallelCore;ImagingColor;DICOMParser;metaio;png;tiff;zlib;jpeg;fmt;doubleconversion;IOXML;IOXMLParser;jsoncpp;lz4;lzma;expat")

also after adding this the unresolved symbol error are resolved but io_ply.dll were not installing automatically so again we have to update PCLConfig,cmake at line 453 and 464 to add io_ply module so that its dll should automatically be installed. the line 453 and 464 were looks like this after updating

set(pcl_all_components common kdtree octree search sample_consensus filters 2d geometry io io_ply features ml segmentation visualization surface registration keypoints tracking recognition stereo outofcore people)

set(pcl_io_int_dep common octree io_ply )

Suggestion My personal suggestion is that the pre-build binaries PCL-1.12.1-AllInOne- should work plug and play like manner. it should be packed and shipped with VTK (already build all of its modules with qt GUI support too) binaries and the above-required updates in PCLConfig.cmake file. if not that case then at least document the above steps in docs that how some new developer can use the above GUI components.

Refrence I have found the above solution only on the following page on the internet thanks to him for proving this solution https://mangoroom.cn/cpp/pcl-vtk9-x-viewer-hosted-on-qt-widget.html
kind: compile error status: triage
opened by Mujadid-Ali 3
[custom] PairwiseGraphRegistration example

Hello,

I would like to test global registration functionality provided by PCL, however it looks like PCL is missing ready to use feature like multiway registration( pose graph for example). On the other hand there is pcl::PairwiseGraphRegistration< GraphT, PointT > class but is not included into compilation and there are not any example of usage.

Could you clarify if pcl::PairwiseGraphRegistration< GraphT, PointT > is going to be supported or other multiway registration methods?
kind: question module: registration status: triage

opened by YuraCobain 4
Fix potential memory problems in GeneralizedIterativeClosestPoint class

The aligned operator new is surely missing due to base_transformation_ member possibly being of type Matrix4f.

About the aligned vector I'm not so sure, but the MatricesVector which is vector of Matrix3d uses it, so either that can go away or should be used consistently.

Added the operator also to classes derived from those needing it. Never really sure about that one, but back when I tested this, this requirement seemed to be infectuious and leaving it out from child classes would fail, even though they only inherited the base class' members with alignment requirements.
module: registration

opened by themightyoarfish 4

Releases(pcl-1.13.0)

pcl-1.13.0(Dec 10, 2022)
This release has several new features, many bug fixes, and numerous performance enhancements. To name a few:

The new Ellipse3D sample consensus model

The new farthest point sampling filter

Faster and more robust PCD and PLY input/output

For an exhaustive list of newly added features, deprecations and other changes in PCL 1.13.0, please see CHANGES.md.

Thanks to everyone who contributed to this release!
Source code(tar.gz)
Source code(zip)
PCL-1.13.0-AllInOne-msvc2022-win64.exe(312.63 MB)
pcl-1.13.0-pdb-msvc2022-win64.zip(171.93 MB)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.57 MB)
source.zip(68.75 MB)
pcl-1.13.0-rc1(Nov 20, 2022)
This release has several new features, many bug fixes, and numerous performance enhancements. To name a few:

The new Ellipse3D sample consensus model

The new farthest point sampling filter

Faster and more robust PCD and PLY input/output

For an exhaustive list of newly added features, deprecations and other changes in PCL 1.13.0, please see CHANGES.md.

Thanks to everyone who contributed to this release!
Source code(tar.gz)
Source code(zip)
PCL-1.13.0-rc1-AllInOne-msvc2022-win64.exe(312.87 MB)
pcl-1.13.0-rc1-pdb-msvc2022-win64.zip(172.08 MB)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.58 MB)
source.zip(68.75 MB)
pcl-1.12.1(Dec 21, 2021)

PCL 1.12.1 brings in a lot of enhancements in CMake thanks to @larshg and @SunBlack. Enjoy a lot of bug-fixes and improvements in IO and Filters.

For an exhaustive list of newly added features, deprecations and other changes in PCL 1.12.1, please see CHANGES.md.
Source code(tar.gz)
Source code(zip)
PCL-1.12.1-AllInOne-msvc2019-win64.exe(299.62 MB)
pcl-1.12.1-pdb-msvc2019-win64.zip(150.94 MB)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.54 MB)
source.zip(68.70 MB)
pcl-1.12.1-rc1(Dec 13, 2021)

PCL 1.12.1 brings in a lot of enhancements in CMake thanks to @larshg and @SunBlack. Enjoy a lot of bug-fixes and improvements in IO and Filters.

For an exhaustive list of newly added features, deprecations and other changes in PCL 1.12.1, please see CHANGES.md.
Source code(tar.gz)
Source code(zip)
PCL-1.12.1-rc1-AllInOne-msvc2019-win64.exe(299.68 MB)
pcl-1.12.1-rc1-pdb-msvc2019-win64.zip(150.99 MB)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.53 MB)
source.zip(68.70 MB)
pcl-1.12.0(Jul 7, 2021)

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, Qhull, 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.

VTK warnings that might appear are due to internal deprecations, but users should check issue #4830 for more details regarding future proofing their code.

For an exhaustive list of newly added features, deprecations and other changes in PCL 1.12.0, please see CHANGES.md.
Source code(tar.gz)
Source code(zip)
PCL-1.12.0-AllInOne-msvc2019-win64.exe(288.20 MB)
pcl-1.12.0-pdb-msvc2019-win64.zip(141.87 MB)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.53 MB)
source.zip(68.69 MB)
pcl-1.12.0-rc1(Jun 30, 2021)

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

For an exhaustive list of newly added features, deprecations and other changes in PCL 1.12.0, please see CHANGES.md.
Source code(tar.gz)
Source code(zip)
PCL-1.12.0-rc1-AllInOne-msvc2019-win64.exe(288.50 MB)
pcl-1.12.0-rc1-pdb-msvc2019-win64.zip(141.92 MB)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.53 MB)
source.zip(68.68 MB)
pcl-1.11.1(Aug 14, 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.
Source code(tar.gz)
Source code(zip)
PCL-1.11.1-AllInOne-msvc2019-win64.exe(283.71 MB)
pcl-1.11.1-pdb-msvc2019-win64.zip(145.64 MB)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.49 MB)
source.zip(68.65 MB)
pcl-1.11.1-rc2(Aug 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.
Source code(tar.gz)
Source code(zip)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.49 MB)
source.zip(68.65 MB)
pcl-1.11.1-rc1(Aug 6, 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.
Source code(tar.gz)
Source code(zip)
sha256_checksums.txt(197 bytes)
sha512_checksums.txt(325 bytes)
source.tar.gz(65.48 MB)
source.zip(68.63 MB)
pcl-1.11.0(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

See CHANGES.md for an exhaustive list newly added features, deprecations, and other changes.
Source code(tar.gz)
Source code(zip)
PCL-1.11.0-AllInOne-msvc2019-win64.exe(286.71 MB)
pcl-1.11.0-pdb-msvc2019-win64.zip(135.58 MB)
pcl-1.10.1(Mar 19, 2020)

See CHANGES.md for an exhaustive list of fixes and enhancements included in this minor release.
Source code(tar.gz)
Source code(zip)
PCL-1.10.1-AllInOne-msvc2019-win64.exe(260.17 MB)
pcl-1.10.1-pdb-msvc2019-win64.zip(136.17 MB)
pcl-1.10.0(Jan 19, 2020)
PCL now defaults to the C++14 standard. Most of the Boost classes that we use were replaced with alternatives from the standard library. One notable exception are smart pointers. PCL still makes extensive use of boost::shared_ptr. However, several layers of abstraction have been added to prepare for a smooth switch to std::shared_ptr in the next release:

Added pcl::make_shared and Class::Ptr/Class::ConstPtr type-aliases. Use these instead of direct names like {boost, std}::shared_ptr or {boost, std}::make_shared with PCL types.

Added pcl::shared_ptr that offers the same abstraction for non-PCL types.

Please use the above-mentioned functions/aliases in downstream projects to ensure source code level compatibility with PCL 1.10 and future PCL releases.

See CHANGES.md for an exhaustive list newly added features, deprecations, and other changes.
Source code(tar.gz)
Source code(zip)
md5.pcl-1.10.0.tar.gz.txt(33 bytes)
md5.pcl-1.10.0.zip.txt(33 bytes)
PCL-1.10.0-AllInOne-msvc2019-win64.exe(259.36 MB)
pcl-1.10.0-darwin.md5sum-5d03bb0d044487b929b5ed2f46b70f95.tar.bz2(17.06 MB)
pcl-1.10.0-pdb-msvc2019-win64.zip(132.83 MB)
pcl-1.9.1(Nov 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]

Source code(tar.gz)
Source code(zip)
PCL-1.9.1-AllInOne-msvc2017-win32.exe(437.24 MB)
PCL-1.9.1-AllInOne-msvc2017-win64.exe(488.36 MB)
pcl-1.9.1-pdb-msvc2017-win32.zip(142.53 MB)
pcl-1.9.1-pdb-msvc2017-win64.zip(145.31 MB)
pcl-1.9.0(Nov 6, 2018)
= 1.9.0 (06.11.2018) =

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]

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]

Source code(tar.gz)
Source code(zip)
PCL-1.9.0-AllInOne-msvc2017-win32.exe(437.25 MB)
PCL-1.9.0-AllInOne-msvc2017-win64.exe(488.34 MB)
pcl-1.9.0-darwin.tar.bz2(18.40 MB)
pcl-1.9.0-pdb-msvc2017-win32.zip(165.53 MB)
pcl-1.9.0-pdb-msvc2017-win64.zip(167.61 MB)
pcl-1.8.1(Aug 8, 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]

Source code(tar.gz)
Source code(zip)
PCL-1.8.1-AllInOne-msvc2015-win32.exe(418.62 MB)
PCL-1.8.1-AllInOne-msvc2015-win64.exe(469.92 MB)
PCL-1.8.1-AllInOne-msvc2017-win32.exe(415.84 MB)
PCL-1.8.1-AllInOne-msvc2017-win64.exe(466.81 MB)
pcl-1.8.1-darwin.tar.bz2(16.82 MB)
pcl-1.8.1-pdb-msvc2015-win32.zip(159.93 MB)
pcl-1.8.1-pdb-msvc2015-win64.zip(164.98 MB)
pcl-1.8.1-pdb-msvc2017-win32.zip(141.60 MB)
pcl-1.8.1-pdb-msvc2017-win64.zip(144.69 MB)
pcl-1.8.1rc2(Jul 18, 2017)

Source code(tar.gz)
Source code(zip)
PCL-1.8.1rc2-AllInOne-msvc2017-win32.exe(415.94 MB)
PCL-1.8.1rc2-AllInOne-msvc2017-win64.exe(466.85 MB)
pcl-1.8.1rc2-darwin.tar.bz2(16.78 MB)
pcl-1.8.1rc2-pdb-msvc2017-win32.zip(141.63 MB)
pcl-1.8.1rc2-pdb-msvc2017-win64.zip(144.74 MB)
pcl-1.8.1rc1(Jul 2, 2017)

Source code(tar.gz)
Source code(zip)
PCL-1.8.1rc1-AllInOne-msvc2017-win32.exe(415.94 MB)
PCL-1.8.1rc1-AllInOne-msvc2017-win64.exe(466.84 MB)
pcl-1.8.1rc1-Darwin.tar.bz2(17.21 MB)
PCL-1.8.1rc1-msvc2017-win32.zip(92.13 MB)
PCL-1.8.1rc1-msvc2017-win64.zip(108.59 MB)
pcl-1.8.1rc1-pdb-msvc2017-win32.zip(163.67 MB)
pcl-1.8.1rc1-pdb-msvc2017-win64.zip(163.31 MB)
pcl-1.8.0(Jun 15, 2016)

Source code(tar.gz)
Source code(zip)
pcl-1.7.2(Sep 10, 2014)
We are proud to announce the new PCL version 1.7.2. This release incorporates more than 300 pull requests merged during the last eleven months. Together with dozens of bug fixes it brings support for VTK6 and OpenNI 2.

The most notable changes are:

Added support for VTK6 [#363]

Removed Google Test from the source tree and added it as a system dependency [#731]

Added support for QHull 2012 on non-Debian platforms [#852]

libpcl_common:

Added BearingAngleImage class [#198]

Added pcl::CPPFSignature point type [#296]

Added getRGBAVector4i(), getBGRVector3cMap(), and getBGRAVector4cMap() to all point types containing RGB/RGBA fields [#450]

Added a family of "has field" functions to check presence of a particular field in a point type both at compile- and run-time [#462]

Added a function to copy data between points of different types [#465]

Added test macros for equality/nearness checks [#499]

Added descriptorSize() to all point types with descriptors [#531]

Added possibility to copy a cloud inside another one while interpolating borders [#567]

Added a function to determine the point of intersection of three non-parallel planes [#571]

Fixed a bug in HSV to RGB color conversion [#581]

Added a new CentroidPoint class [#586]

Templated intersection computation functions on scalar type [#646]

Templated functions in 'eigen.h' on scalar type [#660]

Added functions to transform points, vectors, lines, etc. [#660]

libpcl_features:

Added a simple implementation of CPPF using normalised HSV values in the feature vector [#296]

Added MomentOfInertiaEstimation and ROPSEstimation features [#319]

Fixed a problem in OURCVFHEstimation::computeRFAndShapeDistribution() [#738]

Fixed undefined behavior in OURCVFHEstimation::computeFeature() [#811]

Fixed memory corruption error in OUR-CVFH [#875]

libpcl_filters:

Added a function to set the minimum number of points required for a voxel to be used in VoxelGrid [#434]

Added GridMinimum filter [#520]

Added a morphological filter that operates on Z dimension [#533]

Added progressive morphological filter to extract ground returns [#574]

Added a filter to remove locally maximal points in the z dimension [#577]

Added an approximate version of the progressive morphological filter [#665]

Added ModelOutlierRemoval class that filters points in a cloud based on the distance between model and point [#702]

libpcl_io:

Added experimental version of an OpenNI 2.x grabber [#276] [#843]

Added support for IFS file format [#354] [#356]

Added possibility to load PCLPointCloud2 from OBJ files [#363]

Fixed loading and saving of PLY files [#510] [#579]

Fixed race conditions in PCDGrabber [#582]

Fixed multi openni grabber buffer corruption [#845]

Fixed incompatibility with Boost 1.56 in LZFImageWriter [#867]

Fixed a bug in PLYReader which lead to deformation of point clouds when displayed in CloudViewer or PCLVisualizer [#879]

libpcl_kdtree:

Fixed double memory free bug in KdTreeFLANN [#618]

libpcl_keypoints:

Added a method Keypoint::getKeypointsIndices () [#318]

Added keypoints based on Trajkovic and Hedley operator (2D and 3D versions) [#409]

libpcl_octree:

Fixed a bug in OctreePointCloudAdjacency::computeNeighbors() [#455]

Accelerated OctreePointCloudAdjacency building by disabling dynamic key resizing [#332]

Fixed a bug with infinite points in OctreePointCloudAdjacency [#723]

libpcl_people:

Added a possibility to define a transformation matrix for people tracker [#606]

libpcl_recognition:

Allow PCL to be built against a system-wide installed metslib [#299]

Fixed a bug in ObjRecRANSAC::addModel() [#269]

Added LINEMOD::loadTemplates() (useful for object recognition systems that store templates for different objects in different files) [#358]

libpcl_registration:

Fixed SampleConsensusInitialAlignment::hasConverged() [#339]

Added JointIterativeClosestPoint [#344]

Made correspondence rejectors to actually work with ICP [#419]

Added GeneralizedIterativeClosestPoint6D that integrates Lab color space information into the GICP algorithm [#491]

Fixed bugs and optimized SampleConsensusPrerejective [#741]

Fixed a bug in TransformationEstimationSVDScale [#885]

libpcl_sample_consensus:

Unified SampleConsensusModelNormalParallelPlane with SampleConsensusModelNormalPlane to avoid code duplication [#696]

libpcl_search:

search::KdTree can now be used with different KdTree implementations [#81]

Added a new interface to FLANN's multiple randomized trees for high-dimensional (feature) searches [#435]

Fixed a bug in the Ptr typdef in KdTree [#820]

libpcl_segmentation:

Added GrabCut segmentation and a show-case application for 2D [#330]

Updated RegionGrowingRGB::assembleRegion() to speed up the algorithm [#538]

Fixed a bug with missing point infinity test in RegionGrowing [#617]

Fixed alignment issue in SupervoxelClustering [#625]

Added a curvature parameter to Region3D class [#653]

Fixed a minor bug in OrganizedConnectedComponentSegmentation [#802]

libpcl_surface:

Fixed a bug in EarClipping where computation failed if all vertices have the same x or y component [#130]

Added support for unequal focal lengths along different axes in texture mapping [#352]

Speeded up bilateral upsampling [#689]

Reduced space usage in MovingLeastSquares [#785]

libpcl_tracking:

Fixed Hue distance calculation in tracking HSVColorCoherence [#390]

Added pyramidal KLT tracking [#587]

libpcl_visualization:

Added a new color handler PointCloudColorHandlerRGBAField that takes into account alpha channel [#306]

Fixed PCLVisualizer crashes on OS X [#384]

Added possibility to display texture on polygon meshes [#400]

Added ability to add and remove several coordinate systems [#401]

Added ImageViewer::markPoints() [#439]

Added setWindowPosition() and setWindowName() to PCLPlotter [#457]

Changed camera parameters display to be more user-friendly [#544]

Added PCLVisualizer::updateCoordinateSystemPose() [#569]

Fixed display of non-triangular meshes in PCLVisualizer [#686]

Added a capability to save and restore camera view in PCLVisualizer [#703]

Added PCLVisualizer::getShapeActorMap() function [#725]

Fixed undefined behavior when drawing axis in PCLVisualizer [#762]

Fixed HSV to RGB conversion in PointCloudColorHandlerHSVField [#772]

Fixed non-working key presses in visualization GUIs on Mac OS X systems [#795]

Fixed a bug in PCLVisualizer::addCube() [#846]

Fixed a bug in cone visualization and added possibility to set cone length [#881]

PCL Tools:

Added a simple tool to compute Hausdorff distance between two point clouds [#519]

Updated pcl_viewer to use RGB color handler as default [#556]

Added a morphological tool pcl_morph to apply dilate/erode/open/close operations on the Z dimension [#572]

Added a tool pcl_generate to generate random clouds [#599]

Added a tool pcl_grid_min to find grid minimums [#603]

Added a tool pcl_local_max to filter out local maxima [#604]

Added optional depth image input to pcl_png2pcd converter [#680]

Fixed memory size calculation in pcl_openni_pcd_recorder [#676]

Added device ID parameter to pcl_openni_pcd_recorder [#673]

Added automatic camera reset on startup in pcl_viewer [#693]

Added a capability to save and restore camera view in pcl_viewer [#703]

Updated pcl_pcd2png tool to be able to paint pixels corresponding to infinite points with black. Added Glasbey lookup table to paint labels with a fixed set of highly distinctive colors. [#767]

Added pcl_obj2pcd tool [#816]

PCL Apps:

Fixed disappearing cloud from selection in Cloud Composer [#814]

Source code(tar.gz)
Source code(zip)
pcl-1.7.1(Oct 7, 2013)
New pcl::io::savePNGFile() functions and pcd2png tool (deprecates organized_pcd_to_png).

Support for Intel Perceptual Computing SDK cameras.

New Dual quaternion transformation estimation algorithm.

Bugfixes.

Source code(tar.gz)
Source code(zip)
pcl-1.7.0(Jul 23, 2013)
We are proud to announce the new PCL version 1.7.

After one year of development, there have been a lot of changes:

We welcome three new modules: outofcore, people, recognition.

PCL moved to git and onto Github.

We separated the PCL and ROS data types. Please read https://github.com/PointCloudLibrary/pcl/wiki/Remove-ROS on how to convert your code.

We had a flaw in the pcd viewpoint generation. If your point clouds seem to be flipped, please read https://github.com/PointCloudLibrary/pcl/wiki/pcd-viewpoint.

the geometry lib has been converted into header only, resulting in a ABI change.

If you are using your own point type, you need to define PCL_NO_PRECOMPILE before including any PCL headers.

The most notable overall changes are:

libpcl_common:

Added pcl::Intensity and pcl::Intensity8u point types

Added pcl::RangeImageSpherical sub-class that is more suitable than pcl::RangeImage for some kinds of 360° range images (as discussed in [PCL-users] Range Image Projection)

Added DefaultPointRepresentationpcl::Narf36 to allow pcl::Narf36 to be used with pcl::search (#915)

PCL Apps:

Added cloud_composer app

Added PCLModeler, with a tree view scene explorer and multiple render windows support

Added client app for the point cloud streaming server

Added new server app for point cloud streaming to mobile devices (pcl_openni_mobile_server)

Added a new demo for the connected component segmentation. Includes a QT gui that allows various features to be toggled on/off.

Added SHOT estimator wrapper using OMP

Added openni_organized_multi_plane_segmentation to demonstrate the OrganizedMultiPlaneSegmentation class.

libpcl_recognition:

Added a new tutorial for "libpcl_recognition" for Correspondence Grouping by Tommaso Cavallari (#666)

Added support for .LMT file loading (which are TARed files for PCD masks and SQMMT linemod templates)

Changes in the computation of the modality to improve performance

Fixed a compilation error on windows; for some reason 'NULL' needs to be explicitly casted to the pointer type

Added a model library class used for maintaining the object models to be recognized.

Changed the interface to make it less confusing to use.

Added a couple useful overloads for "Houg###Grouping" and "GeometricConsistencyGrouping"

Added CRHAlignment class.

Added Papazov HV method.

Fixed a bug in Poisson surface reconstruction that was causing the unit test to fail

Added option for automatic selection of number of features in extractFeature

Added a new greedy hypotheses verification method.

Added semi scale invariant linemod template detection

Fixed RF search radius in "Houg###Grouping"

Fixed some bugs in detection refinement along viewing direction

Fixed bug in LineRGBD::computeTransformedTemplatePoints (template point cloud's width and height fields were not set)

Converted uses of PointXYZRGB to PointXYZRGBA; converted std::cerr messages to PCL_DEBUG; minor reformatting to keep lines under 120 characters

Fixed some bugs related to bounding box computation and computation of transformed template point clouds

Added functionality to specify an object ID when loading templates in LineRGBD;

Added "GeometricConsistencyGrouping" clustering class

Added high level interface for RGBD version of linemod (not all parts are implemented yet)

Added SSE optimizations to improve detection speed

Added Ransac Correspondence Rejection into Houg###Grouping

Changed method for selecting features in color gradient modality

Added "CorrespondenceGrouping" abstract base class for correspondence grouping in pcl_recognitio

Added cosine approximation in score computation

Added structure for hypotheses verification methods. Base abstract class

libpcl_keypoints

Added implementation of the Intrinsic Shape Signature keypoint detector

fixed crash caused by setNormals() in HarrisKeypoint3D (related to #745)

libpcl_outofcore:

Added support for PointCloud + gen LOD

Added PointCloud2 support for outofcore queries via new "queryBBIncludes" method

Added "copyPointCloud" support for PointCloud2 without indices

Added feature: outofcore binary compressed pcd files to store point data on disk

Bug fix: outofcore write buffer constant limitation fixed so outofcore_process will work with large 20M+ point TRCS data sets

Constants for write buffer changed to 2e12 to support insertion of very large point clouds until new serialization is implemented

Added getVoxelSideLength to octree_base for displaying of nodes in visualizer

libpcl_search:

FlannSearch: fixed wrong typedef (::Ptr would break if FlannDistance!=flann::L2) and compiler error

Added new option in FlannSearch: FLANN KMeans Tree can now be uses as the search algorithm

libpcl_visualization:

Added specific methods to handle monochrome images represented by a PointCloud or a PointCloud

Add area selection option to PCLVisualizer so user can get a whole area indexes

Fix the ImageViewer shapes overlay using vtkContextItem so they now appear with transparent background

libpcl_tools:

Added a PNG to PCD converter

libpcl_io:

Added support for the Velodyne High Definition Laser (HDL)

Add support for foo/bar vertex property in PLY file reading

Source code(tar.gz)
Source code(zip)
pcl-1.6.0(Sep 5, 2013)
The most notable overall changes are:

PCL Tools:

Added a tool for interfacing the marching cubes algorithms

Added a PLY To PCD conversion tool

Added a command line tool for transforming datasets based on their viewpoint

Implemented feature #605: New octree visualizer example (Contributed by Raphael Favier. Thanks!)

Updated "openni_save_image" to save both RGB and depth images as TIFF

Added two command line tools for converting PCD data into PLY and VTK formats

Fix for #504: Make ShapeContext and SpinImage uniform (thanks David!)

libpcl_common:

Fixed bug #658: Compiler error: undefined reference for getEulerAngles in pcl/common (thanks Gioia!)

Moved towards a unified "eigen.h" header that only includes the Eigen headers that we need.

Added boost 1.48 and 1.49

Added a default "PointRepresentation" type for "ShapeContext" (thanks Elizabeth!)

Added a new "PlanarPolygon" class for representing 2D planar polygon regions

Added "SetIfFieldExists" functor helper to copy data from a variable into a point field, if it exists

Added a helper functor ("CopyIfFieldExists") for copying out specific data out of a PointT field. See "test_common.cpp" for usage examples

Added point value initialization by default in constructors for "PointXYZI", "Normal", "PointXYZHSV", "PointXYZRGBL", and "PointXYZRGB"

Updating transforms.hpp to ensure that point fields are copied when applying affine transform to a specific set of indices.

Added error messages on failure of aux functions for PointCloud2, "pcl::concatenatePointCloud" and "pcl::concatenateFields"

Fixed win32 compilation error on test_plane_intersection

Implemented plane intersection feature (feature #644) with a related unit test

Added kissfft library

Bugfix of eigen22 version for smallest eigenvalue/vector

Add specialization for pcl::RGB point type

Intensity field accessor moved from keypoints/sift to common to be shared by others

Fixed some valid usages of point traits (e.g. static_cast::type>(...) ) on GCC 4.4.3 by explicitly instantiating some assert template long before it should actually be needed.

Added ESF Histogram 640 to point types

libpcl_filter:

Added command line option "-keep" to preserve the organized data structure after a "Passthrough" filter

Implemented feature #663: flexible comparison for conditional_removal filter (Thanks Julian!)

Fix for bug #672: ijk grid coordinates in VoxelGrid computed differently in different functions (thanks Nicholas!)

Fix for #572: Example "Euclidean Cluster Extraction" crashes / bug in VoxelGrid filter

Improved performance of 3x getFieldIndex and removed dependency on pcl_io

Fixed and implemented feature #518: VoxelGrid<> performance improvement (roughly 50+ times) (thanks Radoslaw!)

Fixed the visual studio compilation error described in feature #614 (thanks Remus!)

Fixed bug #674 (Elements in leaf_layout_ in VoxelGrid are not reset between calls to VoxelGrid::filter), Thanks Nicholas for the patch!

Work on issue 614: updated the PassThrough filter to derive from FilterIndices instead of Filter

Fix: use a makInfinite function to annihilate points in zero_padding cases

Add new class to handle convolution in 3D space for radial basis kernel

Modifying VoxelGridCovariance to allow for control over minimum number of points and eigen value inflation for singularity prevention.

libpcl_visualization:

Overloaded "addRectangle" in "ImageViewer" with several useful methods that take as input 3D min-max points and organized datasets, as well as image masks to create 2D rectangles on screen

Renamed "addBox" to "addFilledRectangle" in "ImageViewer"

Added "addPlanarPolygon" methods for "ImageViewer" to display planar polygonal contours in the image

Added new "addMask" methods to "ImageViewer" for displaying 2D image masks from a given "PointCloud"

"PCLVisualizer" now has a new "addCube" method for passing {x, y, z}_{min, max} directly to the screen (thanks Jeremie!)

Patch for two cases of mismatched new/free cases for PCL<->VTK data exchange (thanks Peter!)

Fixed a problem with "removeLayer" which was causing shapes to flicker on screen on sequences like: "removeLayer; addShape; spinOnce"

Added "addLine" to "ImageViewer" for displaying 2D lines

Added "PCLVisualizer::close" to close the interactor window and "PCLVisualizer::set{Size, Position}" to set the window size and position on screen added image viewer to the docs

Added better support for 2D image visualization (via "pcl::visualization::ImageViewer"): add/remove layers with different transparency, add 2D shapes (rectangles, circles, points, etc)

Added "wasStopped" to "ImageViewer" to check if the window has been closed

Fixed an issue in pcd_viewer where the PointPicking callback wasn't functioning properly

Added "setPosition" to "pcl::visualization::ImageViewer" for allowing the image viewer to be moved somewhere else on screen

Added two additional "addPointCloud" helpers for directly displaying "sensor_msgs::PointCloud2" data

Added "addPointCloud" method for "sensor_msgs::PointCloud2" data (useful to bypass the conversion to XYZ for "pcd_viewer")

Added the capability to remove a cloud when "removeShape" is called, to preserve API backward compatibility (a "PolygonMesh" is not treated as a "CloudActor" inside "PCLVisualizer")

Fixed a bug where the scalars were not updated properly on "updatePointCloud" thus causing VTK warnings on the console

Fixing issue #105 (PCLVisualizer::spinOnce don't work on Win32 system). Thanks Thibault and Alessio.

Added "PointXYZRGBA" callbacks for "OpenNIGrabber" and "PCLVisualizer".

Fixed two bugs where a segfault would occur in "addPolygonMesh" when the input cloud would be empty, as well as #563 : PCLVisualizer::addPolygonMesh crash (thanks Mourad!)

Fixed a bug where changing the point color using "setPointCloudRenderingProperties" would not update the actor's colors on screen

Fix for #532: "PCLVizualizer::addCoordinateSystem()" switch from "Eigen::Matrix4f" to "Eigen::Affine3f" (thanks Aurel!)

Fix for #524: ctrl problem with pcd_viewer (thanks Mourad!)

Adding opt in flag -use_vbos to pcl_visuzlier. It's still quite buggy, but shouldn't affect the visualizer unless this flag is passed.

Added vtkVertexBufferObject/Mapper and moved pcl_image_canvas_source2d

Added case handling where an actor might not have a valid viewpoint_transformation matrix resulting in a seg fault if pressing ALT+R

Fixed bug in displaying addCoordinateSystem

Added method to visualize intensity gradients

Added zoom functionality for ALT + Scroll-Wheel

Merged openni_viewer_simple with openni_viewer with all the available options except XYZI

libpcl_octree:

Fixed bug #693 - bounding box adaption affected change detection results

Applied patch by Robert Huitl, Issue #651, define maxVoxelCount in octree raycasting

Fixed OSX compiler warnings

Fixed bug #683 - octree depth changes during stream compression

Added new octree key class

Added bounding box checks in method isVoxelOccupiedAtPoint (octree pointcloud class)

Removed maxKeys limit in octree key generation method

Added range checks for integer keys in octree classes, extended octree key class

Fixed bug #620 (octree search fails if point cloud with indices is given) in octree pointcloud class

libpcl_io:

Added "DepthImage" signals/callbacks for "PCDGrabber"

Support for loading TAR-ed LMT files

Added support for TAR-PCD files for "PCDGrabber". Simply use "tar cvf file.tar *.pcd" and use "PCDGrabber" on it afterwards

Fixed a bug in the "PointCloud" feature estimation and I/O regarding the fields "count" property

Added a "saveVTKFile" method helper for saving "sensor_msgs::PointCloud2" data

Added support for reading PCD ascii and binary files (binary_compressed not implemented yet!) for pcl::PointCloudEigen::MatrixXf datatypes.

Implemented and tested a fix for feature request #558: Implement IO for PointCloud

Adding missing openni_device files from install

Fixed a bug in ply reader

Fixed bug #683 - dropping empty point clouds during stream compression

Add functions to convert between PCL and VTK data structures.

Handle red_diffuse, blue_diffuse and green_diffuse vertex properties

Fix bug where normals were written before RGB

Bugfix for #627 - Wrong include path for ply header

libpcl_features:

Fixed bug #676 in PCL Feature Search (thanks Adam!)

Fixes compilation problem on Windows due to size_t variable in omp loop.

Implemented feature request #661: border management in integral image normal estimation

Fixed PFHRGBEstimation bug, thanks Luis

Bug fix in SHOT feature, thanks wack

Fixed a bug which caused some normals to point in the wrong direction

Added Camera Roll histogram

Fix bug in index used for normal selection

Added esf feature

Added setViewPoint functionality and useSensorOriginAsViewPoint method to reset the viewpoint

Fixed bug #576 - CVFH respect setIndices now

Fixed issue #550: Uninformative error in VFHEstimation (thanks David!)

Fix #527: Bug in IntegralImageNormalEstimation (thanks Christoph!)

Fixed #544: overflow in implicit constant conversion warnings (thanks David!)

Modified SHOT omp so that the default computation of the reference frames

SHOT: Fixed invalid access when keypoints have increased from the previous call.

Setting sensor origin and orientation correctly for normal point cloud

Fixed a bug in estimating the orientation of the normal (view point wasn't initialized in the constructor)

Bug fix: if the cloud is not dense search for neighbours could raise an excpetion

Bug fix: SHOT accepts only radius search

libpcl_segmentation:

Fixed a few issues in the new segmentation classes where some comparators didn't have the appropriate "Ptr" and "ConstPtr" well defined

Fixed a bug where points passed onto the search method were not checked for NaN/Inf in "pcl::SegmentDifferences"

Added a missing "setDistanceFromOrigin" to "SACSegmentationFromNormals" for "SACMODEL_NORMAL_PARALLEL_PLANE" (thanks A. Barral)

Fix for #134 (Prism Extraction on Table top (flipping normal fails))

Fixed a segmentation fault in "SACSegmentationFromNormals" caused by calling "segment" without passing the input XYZ or normal data

Fixed a bug in organized connected component segmentation. Previously would crash if the first pixel had a valid depth (doesn't occur on kinect data).

Bugfix of issue # 675: Euclidean cluster extraction access violation. Thanks to Icy for helping find the solution

Fixed bug #673 in EuclideanClusterExtraction

Added new code for min cut segmentation

Fixed bug #681: member variable was not set in constructor (thanks Bhaskara!)

Added a threshold to MultiPlaneSegmentation for curvature, allowing us to discard smooth (but non-planar) regions.

Added optional projection for multi_plane_segmentation.

Added some new comparators for use with OrganizedConnectedComponents including RGB and edge aware

Added additional fucnction call for segmentAndRefine.

Added a comparator for doing euclidean clustering on organized point clouds.

Added fast SeededHueSegmentation implementations

Fixed segfault in multi plane refinement and functorized the comparison.

Improved MultiPlaneSegmentation to allow refinement of regions, and support different comparators.

New classes AutomatedSegmentation, AutomatedTreeSegmentation

Added OrganizedConnectedComponentSegmentation, which is a general class for use with organized point clouds and can take user specified comparators.

Added OrganizedMultiPlaneSegmentation which returns all planes in an organized cloud, along with the PlaneCoefficientComparator needed to do this.

libpcl_surface:

Fixed a grave bug where "setIndices" was not used in "ConvexHull"

Added fix for #562: pcl::ConcaveHull crashes on an empty cloud (thanks Mourad!)

Added "PCLSurfaceBase" base class for "MeshConstruction" and "SurfaceReconstruction", to unify the API around "setSearchMethod(&Search)" and "reconstruct(&PolygonMesh)"

Added GPU accelerated convex hull. 7x for Ramesses dataset (700k points)

Added a setDimension function to concave hull, so users can specify desired dimensionality of the resulting hull. If no dimension is specified, one will be automatically determined.

Fixed bug #692 - MovingLeastSquares indices issues

Added curve fitting and trimming of surfaces to examples/surface/example_nurbs_fitting_surface.cpp

Added iterative fitting routines for curve fitting surface::on_nurbs::Triangulation - added convertion functions for nurbs curve to line-polygon - added convertion functions for nurbs surface and curve to PolyMesh

Added flag to enable/disable usage of UmfPack for fast solving of sparse systems of equations - added triangulation functions to convert ON_NurbsSurface to pcl::PolygonMesh

Added bug fix in ConcaveHull, thanks to summer.icecream

Added marching cubes using RBF and Hoppe SDF

Pushed new functions that perform texture-mapping on meshes.

Fix: issue #646 (vtk_smoothing not copied)

Added new functionalities to TextureMapping: Find occlusions based on raytracing in octrees, UV mapping based on Texture resolution and camera focal lenght.

Relaxing dimensionality check threshold on concave_hull, so that 3D hulls should no longer be calculated on 2D input.

Added poisson filter

libpcl_keypoints:

Added combined Harris keypoint detector to detect corners in image, in 3D and combined ones

Fix bug #691 (Compiler error: undefined reference for setMinimalDistance in pcl/keypoints/harris_keypoint2D)

Fixed the #637 pitfall in harris3D and harris6D

Added implementation of 2D corner detectors

libpcl_geometry:

Added a new PCL library for computational geometry

Added bugfix to remove self intersecting polygons

Fixed some refinement corner cases for polygon approximation

Added line iterator class for iterating over e.g. an image/organized cloud in the pixel space.

libpcl_search:

Added NaN checks in "pcl::search::FlannSearch"

Skip infinite neighbor candidates in pcl::search::OrganizedNeighbor::radiusSearch

Added point projection method for organized search

libpcl_tracking:

Fixed issue #514: SpinImages segfault when using setKSearch (thanks David!)

gcc-4.7 compatibility issues in pcl::tracking fixed. Thanks to Rich Mattes

libpcl_sample_consensus:

Implemented feature #589: Add sac_model_cone and sac_model_normal_sphere (contributed by Stefan Schrandt. Thanks!)

Fix for #616: pcl::ProgressiveSampleConsensus::getRandomSamples unimplemented (thanks Mourad!)

Fix for #498: Bug in setOptimizeCoefficients for pcl::SACMODEL_SPHERE.

Fixed bug #648: code was checking for plane perpendicular to given axis instead of parallel

Applied patch for feature request #649: Locally constrained model generation for Sample Consensus

libpcl_registration:

Fixed issue #619: Cannot call pcl::registration::TransformationValidationEuclidean::validateTransformation (thanks Raphael!)

Added code for #592: correspondence estimation based on normal shooting (coded by Aravindhan. Thanks!)

Fixed #533: WarpPointRigid missing EIGEN_MAKE_ALIGNED_OPERATOR_NEW (thanks Radoslaw!)

Correct overlapping grid distribution in 2D NDT implementation

Source code(tar.gz)
Source code(zip)
pcl-1.5.1(Sep 5, 2013)
The most notable overall changes are:

new framework for PCL examples in the example/ folder

added the ICCV 2011 tutorial code to the list of bundled applications

a brand new PCL tracking library (libpcl_tracking)

new, well-tested implementations for OrganizedNeighbor and BruteForceSearch in libpcl_search

considerable speedups for: eigendecomposition, covariance matrix estimation, and normal estimation (now running at 30Hz on VGA data)

a lot of bug fixes and code refactorizations and optimizations (thanks to everyone that contributed!)

compilation now defaults to Eigen column major again, but all the code in PCL should compile and work against both row major and column major matrices.

libpcl_range_image is now incorporated into pcl_common, no extra linking required.

libpcl_common

added two new methods to compute centroid and covariance at once. Both are faster than calculating first the centroid and afterwards the covariance matrix. The float versions of the new methods are twice as fast but less accurate, whereas the double versions are more accurate and about 35% faster.

fixed a few issues in our ScopeTime class where the creation of the string as well as the cerr were contributing negatively to the time measurements

added empty() to PointCloudEigen::MatrixXf to return whether the matrix is empty or not

added size to PointCloudEigen::MatrixXf and fixed the constructor warnings exposed by -pedantic

added two new Point Types: Axis and ReferenceFrame as they are used in the Reference Frame calculations

added a helper functor (CopyIfFieldExists) for copying out specific data out of a PointT field. See test_common.cpp for usage examples

implemented and tested a fix for feature request #558: Implement IO for PointCloud

libpcl_filters

refactored RandomSample to return sorted indices. In addition it now runs nearly twice as fast at it did previously.

fixed and implemented feature #518: VoxelGrid<> performance improvement (roughly 50+ times)

libpcl_kdtree

removed unneeded mutices, added asserts instead of constant checks (the user is responsible for passing in valid data!) and sped up a few other things in KDTreeFLANN

libpcl_search

adapted use of flann::Matrix to new semantics of the 'stride' parameter, fixing incorrect results and a crash in FlannSearch

changes that affect pcl_features, pcl_search, pcl_octree, pcl_registration, pcl_surface:

we used to have 3 "overloads" for nearestKSearch and 3 for radiusSearch that every class inheriting from pclk::KdTree or pcl::search::Search needed to implement. Because most of the children always had the same implementation (copy&paste) we moved it up in the base class, made the methods virtual, and only children that need to change that behavior will overwrite it.

the max_nn parameter from radiusSearch has been changed from int with a default value of -1 to an unsigned int with a default value of 0. Each radiusSearch implementation should check for 0 or >= max_points_in_cloud and branch accordingly (if needed).

const correctness is now implemented everywhere in all nearestKSearch and radiusSearch operations

added an implementation of KdTreeFLANN for PointCloudEigen::MatrixXf data structures

FlannSearch: don't include flann/matrix.h, move all FLANN includes to impl/flann_search.hpp. Also adapt max_nn parameter in radius search to change r3962 (pass 0 to search for all neighbors instead of -1)

completely new and shiny BruteForceSearch and OrganizedNeighbor classes

libpcl_octree

fixed issue #513 (bug in octree iterator)

fixed octree bounding box adaption

fixed range test in getPointByIndex method (octree)

fixed bug #604 & removed compiler warnings in Visual Studio 10

fixed numerical problem in octree pointcloud class when points lie very close to the bounding box bounds

improved performance with std::deque in OctreeBreadthFirstIterator class

added breadth-first octree iterator and depth-first octree iterator classes, restructured octree iterator classes, moved "getVoxelBounds" method from OctreeIterator class to OctreePointCloud class

libpcl_sample_consensus

added explicit checks + errors for NaN covariance matrices

fixed a crash on 32bit platforms (thanks bharath)

fix for #498: Bug in setOptimizeCoefficients for pcl::SACMODEL_SPHERE. The issue actually exposed a grave bug introduced with r2755, when we switched from CMinPack to Eigen. The fix touches all segmentation models in pcl_sample_consensus using Levenberg-Marquardt, and TransformationEstimationLM in libpcl_registration. Also added unit test to catch this in the future.

libpcl_io

fix row-major/column-major issues in I/O (#578 related)

fixed #593 by removing unimplemented method declarations

added a saveVTKFile method helper for saving sensor_msgs::PointCloud2 data

added support for reading PCD ascii and binary files (binary_compressed not implemented yet!) for pcl::PointCloudEigen::MatrixXf datatypes.

implemented and tested a fix for feature request #558: Implement IO for PointCloud

added PointXYZRGBA callbacks for OpenNIGrabber and PCLVisualizer

fixed issue #565

fixed a few bugs in PCDReader regarding uint8/int8 data values and added a comprehensive unit test for all possible combinations of data types that we support in PCL

added isValueFinite for checking whether a value T is finite or not, and rewrote the PCDReader bits of code that perform the is_dense checks

integrated libply written by Ares Lagae as an independent component in io

rely on ply library for PLY parsing, remove the old parser and use the freshly integrated libply, change the namespace ::ply to ::pcl::io::ply to avoid any potential issue

libpcl_surface

Updated convex hull. It should now be somewhat faster, and allows users to optionally specify if the input is 2D or 3D, so the input dimension need not be calculated every time.

fix for #562: pcl::ConcaveHull crashes on an empty cloud (thanks Mourad!)

added option to ensure that triangle vertices are ordered in the positive direction around the normals in GreedyProjectionTriangulation

fixed issue #489 in GreedyProjectionTriangulation

fixed triangle vertex ordering issues in OrganizedFastMesh

MarchingCubes now adheres to the new pcl_surface base class architecture

added PCLSurfaceBase base class for MeshConstruction and SurfaceReconstruction, to unify the API around setSearchMethod(&Search) and reconstruct(&PolygonMesh)

added marching_cubes_reconstruction tool

libpcl_features

fixed issue #550: Uninformative error in VFHEstimation (thanks David!)

fix for #504: Make ShapeContext and SpinImage uniform (thanks David!). Note: this is an API breaking change, as setInputCloudWithNormals, which was deviating from the FeatureEstimation API is now replaced with patched setInputCloud and setInputNormals, thus no longer causing an error. However, we are confident with this change as the API was broken, so this is a bug fix.

fixed a bug in the PointCloud<MatrixXf> feature estimation and I/O regarding the fields count property

fixed an issue where the header stamp should only be copied from a PointCloud into a PointCloud in PCL standalone, and not in PCL in ROS

optimized RSD computation

speeded up normal estimation in IntegralImageNormalEstimation

renamed computeFeature (MatrixXf&) into computeFeatureEigen (MatrixXf&) and compute (MatrixXf&) into computeEigen (MatrixXf&) to keep the compiler happy, avoid multiple inheritance, and use clearer semantics between the two different output estimation methods

fixed an issue where if radius would be defined for VFHEstimation, Feature::initCompute would error out

fixed issue #539 (fpfh_estimation tutorial)

fixed issue #544 (overflow in implicit constant conversion warnings)

fixed issue #527 (bug in IntegralImageNormalEstimation)

fixed issue #514 (SpinImages segfault when using setKSearch)

libpcl_registration

added TransformationValidation base class and TransformationValidationEuclidean as a measure to validate whether a final transformation obtained via TransformationEstimation when registering a pair of clouds was correct or not

added getter/setter for maximum number of inner iterations to control number of optimizations in GeneralizedIterativeClosestPoint

fixed issue #507

fixed issue #533 (WarpPointRigid missing EIGEN_MAKE_ALIGNED_OPERATOR_NEW)

fixed issue #464 (already defined function pointers)

fixed a grave bug on 32bit architectures where MapAligned was used incorrectly

libpcl_segmentation

fixed a segmentation fault in SACSegmentationFromNormals caused by calling segment without passing the input XYZ or normal data

added a missing setDistanceFromOrigin to SACSegmentationFromNormals for SACMODEL_NORMAL_PARALLEL_PLANE (thanks A. Barral)

libpcl_visualization

added PointXYZRGBA callbacks for OpenNIGrabber and PCLVisualizer

fixed two bugs where a segfault would occur in addPolygonMesh when the input cloud would be empty, as well as #563 : PCLVisualizer::addPolygonMesh crash (thanks Mourad!)

added the capability to remove a cloud when removeShape is called, to preserve API backward compatibility (a PolygonMesh is not treated as a CloudActor inside PCLVisualizer)

fix #472: at startup the camera view pointis set to last added point cloud, but with the key combination ALT+r on can iterate through the view points of the visualized point clouds.

added addPointCloud method for sensor_msgs::PointCloud2 data (useful to bypass the conversion to XYZ for pcd_viewer)

added PCL_VISUALIZER_IMMEDIATE_RENDERING for processing large datasets

refactorized pcd_viewer to consume less memory by skipping the intermediate conversion to PointCloud<PointXYZ>, clearing the PointCloud2 data once converted to VTK, and enabling intermediate mode

added setPosition to pcl::visualization::ImageViewer for allowing the image viewer to be moved somewhere else on screen

changed the openni_image viewer tool to display both RGB and depth images

fixed a nasty bug where the scalars range were not correctly updated in the mapper on updatePointCloud thus causing weird VTK warnings at the console

added setupInteractor to allow QVTK customizations

pcd_grabber_viewer now shows the recorded images in PointXYZRGB clouds, and can use fps=0 and trigger each new frame manually by pressing SPACE

fixed an BGR/RGB issue in image_viewer

added setKeyboardModifier to change the default keyboard modifier from Alt to Shift or Ctrl so that in QVTK or other widgets, we can still use shortcuts like Mod+r, Mod+f, etc

PCLVisualizer is now working with VTK compiled for cocoa, no X11 necessary on OS X

build bundle executable for pcd_viewer if VTK is compiled with Cocoa. With that the keyboard events are handled by the application

modified openni_passthrough to use QVTK instead of VTK

added PCLVisualizer zoom in/out via /- [ alt]

implemented feature #516 (pcd_viewer multiview with .vtk files)

added showMonoImage for displaying a monochrome unsigned char 2D image in PCLVisualizer

added setFullScreen and setWindowBorders methods to allow an user to change the full screen/border properties of the PCLVisualizer GUI

fix for issue #519 (set the minimum number of cloud points to 1 in vtkLODActor)

fix for issue #524 (ctrl problem with pcd_viewer)

fix for issue #532 (PCLVizualizer::addCoordinateSystem() switch from Eigen::Matrix4f to Eigen::Affine3f)

bug fix in pcd_grabber_viewer: now sorting the read .pcd file by name before showing them (was in random order before)

fixed issue #525 (pcd_viewer did not handle nan values correctly in fields other than x, y, z)

fixed a bug where changing the point color using setPointCloudRenderingProperties would not update the actor's colors on screen

workaround for displaying FPS rate on PCLVisualizer - disabled backface culling because of known VTK issue

Source code(tar.gz)
Source code(zip)
pcl-1.4.0(Sep 5, 2013)
The most notable overall changes are:

changed the default on the order of data in all Eigen matrices to be row major -DEIGEN_DEFAULT_TO_ROW_MAJOR (Eigen defaults to column major). Be careful if your code was using 1D index operators, as they might be broken! See http://eigen.tuxfamily.org/dox/TopicStorageOrders.html and http://listengine.tuxfamily.org/lists.tuxfamily.org/eigen/2011/12/msg00062.html.

libpcl_common

added float union to the pointXYZRGBL type, in order to aid PCD_viewer compatibility

bugfix: pcl::computeCovarianceMatrixNormalized did not normalize for each implementation

fixed bug #421: at(u,v) should return a const reference

added InitFailedException and UnorganizedPointCloudException. Created PCL_EXCEPTION helper macro

added the GFPFH global descriptor point type

added gaussian kernel class and utilities

added isTrivial to pcl::PointRepresentation which allows avoiding copy operations in special cases, thus speeding up operations like rep->isValid (p)

added eigen33 for smallest eigenvalue/vector and only eigenvalues version

added PointCloudColorHandlerHSVField implementation

deleted wrong definition of density in pcl::transformPointCloud

added copy constructor for PCLBase

fixed PointCloud's in range inserter: width and height were not updated

added PCL_MAJOR_VERSION and PCL_MINOR_VERSION #defines per Ryan's request

fixed the getMatrixXf advanced user API call to return the correct values now that we are forcing Eigen Matrices to be row major in 1.x

moved the content of win32_macros.h into pcl_macros.h

added an isFinite method to check for x/y/z = NaN in point_types.hpp

moved internal headers from pcl/ros/point_traits.h into pcl/point_traits.h and pcl/ros/for_each_type.h to pcl/for_each_type.h (these headers are for internal use only and should have never been imported by user code - however pcl_ros in perception_pcl_unstable will need to be modified when following trunk after this revision, as that is the only external piece of code that should import these headers)

fixed one of the constructors for pcl::PointCloud<T> (cloud, indices) that was incomplete

no longer checking "frame_id" parameters in header for operator += in pcl::PointCloud<T>

added operator + for pcl::PointCloud<T>

improved doxygen documentation all around libpcl_common

added new specialization for pcl::PointCloud<Eigen::MatrixXf> - for advanced users only! (expect the API to change in trunk if needed)

moved NdCopyPointEigenFunctor and NdCopyEigenPointFunctor from voxel_grid.h to point_cloud.h

added CloudProperties class for optional properties for pcl::PointCloud<Eigen::MatrixXf>, and moved sensor_origin_ and sensor_orientation_ there (as properties.sensor_origin and properties.sensor_orientation), and removed header, while keeping header.stamp as properties.acquisition_time

fixed the copy constructor (vector<size_t> -> vector) and added an implementation for the + operator

added a general convolution class. Convolution handles point cloud convolution in rows, columns and horizontal directions. Convolution allows for 3 policies: zero padding (default), borders mirroring and borders duplicating through PointCloudSpring class

refactorized PointCorrespondence and Correspondence into the same thing, per issue #458

added ChannelProperties in preparation for 2.0

fixed bug #445: Overloaded the setIndices method in PCLBase so that it can accept boost::shared_ptr<const std::vector> >

disabled unit test for getMatrixXfMap in DEBUG mode, as it was failing due to eigen's strictness on aligned/unaligned data, and added const+non consts versions

libpcl_filters

fixed bug in random_sample.cpp; The PointCloud2 filter wasn't working causing the unit test to fail

crop_box filter now supports PointT and PointCloud2 point clouds

added a normal space sampling filter

fixed bug #433: pcl::CropBox doesn't update width and height member of output point cloud

fixed bug #423 CropBox + VoxelGrid filters, order changes behaviour (using openni grabber)

add CropHull filter for filtering points based on a 2D or 3D convex or concave hull. The ray-polygon intersection test is used, which relys on closed polygons/surfaces

added clipper3D interface and a draft plane_clipper3D implementation

removed spurious old ColorFilter class (obsolete, and it was never implemented - the skeleton was just lurking around)

better Doxygen documentation to PassThrough, VoxelGrid and Filter

moved the set/getFilterLimits, set/getFilterFieldName, and get/setFilterLimitsNegative from Filter into VoxelGrid and PassThrough, as they were the only filters using it. The rest were not, thus leading to user confusion and a bloated API.

libpcl_kdtree

fixed bug #442: reversed template parameters preventing use of nearestKSearchT and radiusSearchT in pcl::search::Search and pcl::kdtree:KdTree

libpcl_search

fixed a bug in OrganizedNeighbor where one of the radiusSearch signatures was working only if the cloud is not organized (#420 - thanks Hanno!)

updated pcl::search:OrganizedNeighbor to be back functional, radiusSearch is working back, 4-6x faster then KdTree, Knearest still need to implement this

changed pcl::search::FlannSearch: fixed style of class and tests, moved impl to hpp

cleaning up OrganizedNearestNeighbor as well as implementing one of the missing radiusSearch methods

improved documentation for libpcl_search and silenced all Doxygen warnings

removed auto (it needs to be completely rewritten and was left in a very bad state)

made sure all the output of the search method is consistently returning 0 in case the nearest neighbor search failed and not -1

updated kdtree wrapper code for the latest FLANN release

libpcl_octree

added method getVoxelBounds to octree iterator & removed result vector reserves

improved documentation for libpcl_octree and silenced all Doxygen warnings

libpcl_sample_consensus

fixed an omission of the sample size declaration for SACMODEL_PARALLEL_LINES (thanks Benergy)

replaced rand () with boost random number generators and fixed all failing unit tests

workaround to get rid of infinite loops if no valid model could be found

libpcl_io

refactorization and consistent code indentation + make sure the timestamp is not set if we use PCL in ROS

fixed an older issue where the is_dense flag was not set appropriately when reading data from a binary file (thanks Updog!)

fixed an issue in the PLYWriter class where the element camera was not correctly set thus leading to crashes in Meshlab (thanks Bruno!)

the VTK library loads vertex colors in PLY files as RGB. Added that to the polymesh loader.

fixed 2 bugs in writing PolygonMesh and unpacking RGB

fixed a bug in the .OBJ exporter to strip the path from the material library filename (thanks Robert!)

added support for exporting vertex normals to the .OBJ (pcl::io::saveOBJFile) file exporter (thanks Robert!)

fixed a 32bit/64bit issue in pointcloud compression

added method to write obj files from PolygonMesh

added serial number support for Windows using mahisorns patch. Thanks to mahisorn

overloaded callbacks for OpenNIGrabber to output PointCloud<Eigen::MatrixXf> datasets

added the possibility to write binary compressed Eigen data to disk using two new methods: generateHeaderEigen and writeBinaryCompressedEigen. Performance improvements to 30Hz I/O

fix for #463 (Missing Symbol rgb_focal_length_SXGA_)

fix: rgb values need to be packed before saving them in PointCloud2 for PLYWriter

added example code for accessing synchronized image x depth data

added support for the Stanford range_grid element and obj_info for PLY files. If you chosse to use range_grid instead of camera then only valid vertices will be written down to the PLY file.

lipcl_keypoints

added refine method for Harris3D corner detector

rewrote big parts of the NARF keypoint extraction. Hopfully fixing some stability issues. Unfortunately still pretty slow for high resolution point clouds.

fixed bug #461 (SIFT Keypoint result cloud fields not complete); cleaned up the line-wrapping in the error/warning messages

libpcl_surface

fixed a bug in MarchingCubes's getIndexIn1D which led to the result variable to overflow when the data_size was larger than something around 2^10 (thanks Robert!)

reviewed and slightly modified mls implementation. Added MovingLeastSquaresOMP OpenMP implementation

new architecture for the mesh processing algorithms using VTK: MeshProcessing

overloaded reconstruction and performReconstruction in SurfaceReconstruction to output a PointCloud<T> and vector<Vertices> as well

added a new class called MeshConstruction per API design decision to split the surface reconstruction methods into topology preserving (EarClipping,OrganizedFastMesh,GreedyProjectionTriangulation) and the rest. The new class implements areconstruction/performReconstructionforPolygonMesh(for backwards compatibility purposes) and a faster set of the same methods forvector`

refactorized GreedyProjectionTriangulation by making it inherit from the new MeshConstruction base class, and removed a lot of old buggy code

overloaded performReconstruction (PointCloud<T> &, vector<Vertices> &) per the new SurfaceReconstruction API

fixed a bug in OrganizedFastMesh where the x/y/z indices were assumed to be 0/1/2, and made it part of the MeshConstruction API

optimizations for OrganizedFastMesh. Now in 30Hz+ flavor.

fixed a segfault from last night's EarClipping refactorization and improved the efficiency of the algorithm considerably

updated ConvexHull and ConcaveHull to inherit from the new MeshConstruction class

renamed mesh_processing.h to processing.h and performReconstruction/reconstruct to performProcessing/process for the new MeshProcessing API

libpcl_features

fixed bug #439: 3DSC unit test fails on MacOS

fixed IntegralImage2Dim : setting first line to zero was buggy producing undefined output data.

fixing an issue in PrincipalCurvaturesEstimation where the pc1 and pc2 magnitudes were not normalized with respect to the neighborhood size, thus making comparisons of different neighborhoods impossible (thanks Steffen!)

fixed ShapeContext3DEstimation computation and unit tests by switching from stdlib.h's random () to Boost.

fixed a bug in IntensityGradient: need to demean also intensity values, otherwise its assumed that the hyperplane goes always through origin which is not true

overloaded compute in pcl::Feature to save the output in an PointCloud<Eigen::MatrixXf>. Added partial specialization on Eigen::MatrixXf to all features and implemented computeFeature (PointCloud<MatrixXf> &output)

major doxygenization work

added optimization checks for is_dense for some features, implemented NaN output for most (per http://dev.pointclouds.org/issues/457)

added new unit tests for the Eigen::MatrixXf output

fixing the MacOS GCC 4.2.1 compiler segfault by removing the OpenMP #pragma (related to http://gcc.gnu.org/bugzilla/show_bug.cgi?id=35364 ?).

fixed bug #468: refactored to make floor explicit.

added a setUseInternalCache method for PFHEstimation to use the internal cache on demand only. Other fixes to PFH/FPFH/PPF signatures (histogram sums were not adding up to 100.0 in some cases)

major improvements for integral images + added template specialization for one dimensional integral images

libpcl_registration

fixed some bugs in ELCH, thanks Frits for pointing them out

Big ELCH cleanup.

elch.h (API changes):

Use Boost bundled properties for LoopGraph, every vertex stores a pointer to the corresponding point cloud in graph[vertex].cloud.

loop_graph_ is now stored as a shared_ptr.

loop_start_ and loop_end_ are saved as ints for now (will change in the future).

loop_transform_ is not stored as a pointer (may change in the future).

elch.hpp:

Remove call to PCLBase::initCompute() as ELCH doesn't use a single input cloud or indices.

Change loopOptimizerAlgorithm to use start and end of the loop as stored in the object.

Adapt to API changes in elch.h.

added 2D implementation of Normal Distributions Transform for registration (Biber, Strasser; 2003), including example tool program.

reworked internal Registration API: Remove private computeTransformation without guess, make computeTransformation with guess abstract, Adapt all classes implementing Registration accordingly.

implemented SampleConsensusInitialAlignment with initial guess (thanks Dennis Guse)

cleaned up the CorrespondenceRejector API, per #375

apply Mourad's patch for #454; add more doc comments

libpcl_visualization

fixed an issue in pcl::visualization::PointPickingCallback where iren->GetMousePosition () didn't seem to work on some VTK versions/systems, so we replaced it instead with iren->GetEventPosition () (#444 - thanks Adam!)

fixed a bug in PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> where one of the offsets for Z was incorrectly calculated thus leading to erroneous data (#404 - thanks Lucas!)

set the lighting off on setShapeRenderingProperties when the user tries to control the color of the object precisely (maybe add a different lighting on/off property later?)

revert pcl::visualization::PCLVisualizer::setShapeRenderingProperties vtk5.2, default in ubuntu LTS, doesn't support the SetLighting method on vtkActor

fixed an issue in PointCloudColorHandlerRGBField where using an "rgba" field was causing an error in pcd_viewer (#428 - thanks Maurice!)

added PointCloudColorHandlerHSVField

fixed the PointPickingCallback behavior on Windows 7: iren->GetShiftKey () returns 4 instead of 1 (thanks bepe)

added updateFeatureHistogram functionality to PCLHistogramVisualizer, per #456 (thanks Asil!)

added patch from Adam Stambler (Bug #396)

added removePolygonMesh to make the API more user friendly (addPolygonMesh was already existing, but the polygon meshes were removed using removeShape until now)

made the polygon meshes actually implement CloudActor structures internally, so that we can use different colors per vertex

added updatePolygonMesh and improved the efficiency of addPolygonMesh for fast online rendering (i.e., produced via OrganizedFastMesh)

Source code(tar.gz)
Source code(zip)
pcl-1.3.1(Sep 5, 2013)
fixed bug #428: in PointCloudColorHandlerRGBField where using an "rgba" field was causing an error in pcd_viewer (thanks Maurice!)

fixed bug #404: in PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> where one of the offsets for Z was incorrectly calculated thus leading to erroneous data (thanks Lucas!) fixed bug #420: in OrganizedNeighbor where one of the radiusSearch signatures was working only if the cloud is not organized (thanks Hanno!)

fixed bug #421: toROSMsg referenced the address of a temporary return

fixed bug #422: SHOT estimation did not work with different surface than keypoints

fixed bug #430: an infinite loop in SAC methods if no valid model could be found

fixed bug #433: CropBox did not update width and height member of output point cloud

added missing using declarations for shot

added a missing include file to transformation_estimation_point_to_plane.h;

added transformation_estimation_point_to_plane_lls.h/hpp to the CMakeLists file

fixed an issue where the is_dense flag was not set appropriately when reading data from a binary file (thanks Updog!)

fixed a bug in the PLYWriter class where the element camera was not correctly set thus leading to crashes in Meshlab (thanks Bruno!)

fixed a bug in PrincipalCurvaturesEstimation where the pc1 and pc2 magnitudes were not normalized with respect to the neighborhood size, thus making comparisons of different neighborhoods impossible (thanks Steffen!)

set the lighting off on setShapeRenderingProperties when the user tries to control the color of the object precisely fixed bug in PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> where y_point_offset and z_point_offset were not incremented

fixed a bug in tools/compute_cloud_error

fixed a crash in test_ii_normals.cpp

removed unnecessary header from point_correspondence.h

fixed unnormalized covariance matrix in computeCovarianceMatrixNormalized

added missing include in std_msgs/Header.h

added error checking for radius search in extractEuclideanClusters

fixed a bug in PassThrough where NaN values were not correctly replaced by the user-specified value

fixed a bug in ply_io when writing PolygonMesh

fixed a bug in ply_io when unpacking rgb values

Source code(tar.gz)
Source code(zip)
pcl-1.3.0(Sep 5, 2013)
From 1.3 we are constructing the Changelist for each library separately, as they can in theory be mixed and matched with older versions (though we officially do not support this yet). The most notable overall changes are:

removed wxWidgets as a dependency from PCL and implemented the Image visualization classes using VTK

removed cminpack as a dependency from PCL and implemented the LM optimization functionality using Eigen

added a new library called PCL Search (libpcl_search) that has a more uniform API for nearest neighbor searches and stripped the unneeded functionality from libpcl_kdtree and libpcl_octree. Search now wraps KdTree and Octree for NN calls. This is a MINOR API BREAKING CHANGE. To change your code switch from:

pcl::KdTree -> pcl::Search (if the purpose is to use one of its children for search) pcl::KdTreeFLANN -> pcl::search::KdTree pcl::OrganizedDataIndex -> pcl::search::OrganizedNeighbor

improved MacOS support

improved documentation and unit tests

added lots of application examples and demos. Note: not all have a complete functionality... we will try to clean this up in 1.4 and future releases.

Build system changes

define PCL_ROOT environment variable using the NSIS installer

removing test+python from the dependency graph

fixed bug #374

remove cminpack from PCLConfig.cmake cmake and 3rdparty (switched to Eigen's Levenberg-Marquardt implementation)

update NSIS.template.in : use CPACK_PACKAGE_INSTALL_REGISTRY_KEY as the registry key

added the capability to build an all-in-one installer

fixed the build system to work 100% on Android and MacOS

libpcl_common

add overriding for operator[] to shorten code

add a setIndices method that computes indices of points in a region of interest

add demeanPointCloud with indices as PointIndices as well

added eigen allocator to correspondence vectors (pcl::Correspondences) and adapted all registration modules => be sure to use pcl::Correspondences instead of std::vector<pcl::Correspondence>

fixed a few doxygen errors

added simple stop watch for non-scoped function time measurements and made ScodeTime derived from StopWatch

fixed a bug in getRejectedQueryIndices, wrong output when order of correspondences have been changed

moved getRejectedQueryIndices to pcl/common/correspondence.h

added more doxygen documentation to the registration components

marked all getRemainingCorrespondences-functions as DEPRECATED, we sould replace them with purely stateless version outside the class body

fixed a const missing in PolynomialCalculationsT (#388 - thanks Julian!)

add PCL_DEPRECATED macro, closes #354.

added PointXYZHSV type and the conversions for it

added check for endianness for the Android platform

libpcl_search

BIG changes introduced - migration from KdTree to pcl::Search: moved OrganizedDataIndex and OrganizedNeighbor classes to libpcl_search

added new templated methods for nearestKSearch and radiusSearch for situations when PointT is different than the one the KdTree object was created with (e.g., KdTree vs nearestKSearch (PointT2 &p...)

added two new methods for getApproximateIndices where given a reference cloud of point type T1 we're trying to find the corresponding indices in a different cloud of point type T2

refactorized a lot of code in search and octree to make it look more consistent with the rest of the API

fixed a bug in octree_search which was semantically doing something bad: for each radiusSearch/nearestKSearch/approxNearestSearch call with a PointCloudConstPtr, the octree was getting recreated. Changed the API to be consistent with the rest of PCL (including pcl_search and pcl_kdtree) where we pass in a PointCloud instead of a PointCloudConstPtr which simply calls searchMethod (cloud.points[i], ...)

minor code optimizations

renamed organized_neighbor.h header in pcl_search (unreleased, therefore API changes OK!) to organized.h

disabled the auto-search tuning as it wasn't really working. must clean this up further

remove all approxNearestSearch methods from the base pcl::Search class as they did not belong there

libpcl_io

use stringstream instead of atof because of locale issues in IO (note that we can't use the ifstream directly because we have to check for the nan value)

added locale independent PCD ASCII i/o

implemented setMapSynchronization for pcl::PCDWriter. When set, msync() will be called before munmap() in the pcl::PCDWriter::write* calls, which guarantees data reliability. Though I/O performance is 300% better when unset, data corruption might occur on NFS systems, as indicated by http://www.pcl-developers.org/PCD-IO-consistency-on-NFS-msync-needed-td4885942.html.

added new writeBinaryCompressed functionality for general purpose sensor_msgs::PointCloud2 data (which is still our generic data container in PCL 1.x)

added additional unit tests for binary_compressed

fixed a grave bug in PCDReader (most likely introduced a few releases ago due to code refactorization) where the data was incorrectly copied if a PCD ASCII file had a field with multiple count elements (field.count) as first. Binary files are not affected by this bug. Added an unit test to catch this in the future.

added functionality for openni_grab_frame (added optional command line options, optional output filename, chose output format)

changed to new location of samplesconfig.xml for OpenNI

added signal and slot blocking into grabber. Using blocking to skip first frame in openni_grabber, since it is corrupted

added PLY format file support in binary and ascii mode (requires boost::iostreams library)

libpcl_keypoints

added 3D versions of Harris/Noble/Lowe/Tomasi and Curvature-based keypoint detection... scale space still missing

work on making SIFTKeypoint more flexible by saving scale only when the output point type contains "scale" (the catch is that all point types must be correctly declared via our macros - see the modifications in test_keypoints.cpp). This allows us to use a SIFTKeypoint<PointXYZRGB, PointXYZRGB> and thus removes the constraint on using copyPointCloud afterwards.

fixed an issue in SIFTKeypoint where width/height were not correctly set

libpcl_features

specialize std::vector for Eigen::Matrix4f (alignment issue with msvc 32bit) in SHOTEstimation

added a faster (eigen-based) integral image calculation => sped up normal estimation to 15Hz

added Unique Shape Context (USC) feature descriptor

added Shape Context 3D feature descriptor

fixed a bug in the normalization factor of VFH for the distance component (only affecting if set distance component is true)

fixed a few bugs regarding Windows build introduced in earlier commits

BIG changes introduced - migration from KdTree to pcl::Search

merged libpcl_range_image_border_extractor into libpcl_features. There's absolutely no reason why we should have 2 libraries generated from the features module.

libpcl_filters

added FilterIndices functionality #315

added a RandomSample filter which makes use of indices #323

added a new (very fast) class for data decimation: ApproximateVoxelGrid

fix for #369 (StatisticalOutlierRemoval crash when input dataset is empty)

implemented feature request #346

libpcl_octree

added function genVoxelBounds to octree pointcloud class

added octree neighbor search class

added octree-ray-tracing patch to octree_search class

buxfix in octree ray traversal function getIntersectedVoxelCentersRecursive

added unit test for getIntersectedVoxelCentersRecursive

added method getIntersectedVoxelIndices for getting indices of intersected voxels and updated unit test

refactorized a lot of code in search and octree to make it look more consistent with the rest of the API

fixed a bug in octree_search which was semantically doing something bad: for each radiusSearch/nearestKSearch/approxNearestSearch call with a PointCloudConstPtr, the octree was getting recreated. Changed the API to be consistent with the rest of PCL (including pcl_search and pcl_kdtree) where we pass in a PointCloud instead of a PointCloudConstPtr which simply calls searchMethod (cloud.points[i], ...)

minor code optimizations

renamed organized_neighbor.h header in pcl_search (unreleased, therefore API changes OK!) to organized.h

disabled the auto-search tuning as it wasn't really working. must clean this up further

remove all approxNearestSearch methods from the base pcl::Search class as they did not belong there

libpcl_registration

fixed a minor bug in CorrespondenceRejectorSampleConsensus: getRemainingCorrespondences tried to nput_ although it should only use the given input correspondences

added missing implementation for TransformationEstimationLM on correspondence vectors

added eigen allocator to correspondence vectors (pcl::Correspondences) and adapted all registration modules --> be sure to use pcl::Correspondences instead of std::vector<pcl::Correspondence>

fixing the API: a few left inconsistencies between vector<Correspondence> and Correspondences. The latter is to be preferred as it contains the Eigen aligned allocator.

added new ELCH loop correction API (New pcl::registration::ELCH class (WIP), add Registration::Ptr typedef)

added unit tests for the (new) registration API and all registration components

Further cleaning up registration code and writing documentation.

fixed bug in getRejectedQueryIndices, wrong output when order of correspondences have been changed

moved getRejectedQueryIndices to pcl/common/correspondence.h

added more doxygen documentation to the registration components

marked all "getRemainingCorrespondences"-functions as DEPRECATED, we sould replace them with purely stateless version outside the class body

Update: remove ciminpack dependency and rely on eigen for LM

Fixed a bug in ICP-NL by modifying WarpPointRigid to preserve the value of the 4th coordinate when warping; Re-enabled missing unit tests for ICP and ICP-NL

Added point-to-plane ICP

added nr_iterations_ and max_iterations_ to the initializer list (were mising)

Fixed bugs in WarpPointRigid3D and TransformationEstimationLM

fixed a problem where if no correspondences would be found via nearestKSearch, the RANSAC-based rejection scheme would fail (thanks to James for reporting this)

changed the default LM implementation to use L2 instead of L2SQR

Added a new TransformationEstimationPointToPlaneLLS class that uses a Linear Least-Squares approximation to minimize the point-to-plane distance between two point clouds

Added the ability to specify the error function to be minimized in SAC-IA (see Feature #362)

libpcl_sample_consensus

reimplemented the Levenberg Marquardt code that was using cminpack with Eigen, thus dropping the cminpack dependency for PCL

libpcl_surface

fixed bug in surface/mls: when no search interface and no tree is given, mls creates its' own tree, but didn'tupdate the search method to use

added citation for Rosie's work (http://dl.acm.org/citation.cfm?id=1839808)

added some error checking for missing/ill formed inputs for MarchingCubes

don't delete smart pointers (thanks Chytu: http://www.pcl-users.org/Seg-fault-while-using-VTK-Smoother-tp3380114p3381648.html)

added computation of area and volume for convex hulls.

libpcl_segmentation

added a labeled cluster euclidean segmentation method

libpcl_visualization

fixed an issue where saveScreenshot was not correctly initialized with the proper renderer, thus not saving the data

supporting fontsize in addText (per feature #365)

fixing the interactor style by ignoring all combinations in OnChar that we cover in OnKeyDown

added removeAllShapes and removeAllPointClouds per #353

renamed deleteText3D to removeText3D to consolidate the API

fixing the API: a few left inconsistencies between vector<Correspondence> and Correspondences. The latter is to be preferred as it contains the Eigen aligned allocator.

added patch from Lucas Walter to fix pcl::visualization::PCLVisualizer::removeAllPointClouds and removeAllShapes

fixed a few doxygen errors

cleaned up the PCLHistogramVisualizer API by moving to a vtk interactor instead of ours, and removed unnecessary calls such as saveScreenShot (never used with the histogram visualizer, and most likely buggy), wasStopped and resetStoppedFlag (never used).

removed PCLVisualizerInteractor and switched back to a better default vktWindowRenderInteractor for VTK >= 5.6. Adjusted and fixed the internal API. No public API changes were made (except the removal of the PCLVisualizerInteractor class which was never meant to be used externally anyway).

cleaned up and implemented the ImageViewer class properly and demonstrated it in a single thread via openni_viewer. The other tool (openni_viewer_simple) will not work due to CloudViewer starting its own thread and thus clashing on the same OpenGL context.

fixed the correct order in initializer list for ImageViewer

removed wxWidgets completely from the codebase

added implementation for markPoint to ImageViewer to mimic older wxWidgets-based code

fixed an issue in PCLVisualizerInteractorStyle where mouse events were not properly mapped in Qt (#389 - thanks Adam!)

added an extra field of view to the camera paramers (#392 - thanks Adam!)

small bugfix when the radius_sphere was different than 1 for renderViewTesselatedSphere

Source code(tar.gz)
Source code(zip)
pcl-1.2(Sep 5, 2013)
Additions, improvements, and optimizations

Eliminated the transform.h header file < API breaking change > (r2517)

the following functions have moved to transforms.h:

transformXYZ (renamed to transformPoint)

getTransformedPointCloud (replaced with transformPointCloud)

the following methods have been replaced with built-in Eigen methods:

operator<< (use .matrix () )

getRotationOnly ( .rotation () )

getTranslation ( .translation () )

getInverse ( .inverse () )

the following functions have move to eigen.h:

getTransFromUnitVectorsZY

getTransFromUnitVectorsZY

getTransFromUnitVectorsXY

getTransFromUnitVectorsXY

getTransformationFromTwoUnitVectors

getTransformationFromTwoUnitVectors

getTransformationFromTwoUnitVectorsAndOrigin

getEulerAngles

getTranslationAndEulerAngles

getTransformation

getTransformation

saveBinary

loadBinary

Made major changes in pcl::registration (r2503)

all registration code now uses TransformEstimation objects (TransformEstimationSVD and TransformEstimationLM in particular) rather than the older estimateRigidTransformationSVD code. Each class inheriting from pcl::Registration can pass in a different estimator via setTransformationEstimation

simplified TransformEstimationSVD code

implemented TransformEstimationLM by moving away code from IterativeClosestPointNonLinear (which now uses the transformation object)

replaced the io/io.h header file with common/io.h (for backwards compatibility, io/io.h will remain, but its use is deprecated)

added unit test for lineWithLineIntersection (r2514)

improved the VTK installation from source documentation for MacOS (r2589)

updated the tutorials regarding usage of FindPCL.cmake vs. PCLConfig.cmake (r2567)

added a new PointCloud constructor for copying a subset of points (r2562)

made wxwidgets an optional dependency for visualization (r2559)

added feature #334 (Enabling a library should enable all its library dependencies in CMake) implementation, (r2551)

added an internal estimateRigidTransformationSVD method to SampleConsensusModelRegistration (r2502)

added a PCL_VISUALIZER_REPRESENTATION property for setShapeRenderingProperties with three possible values:

PCL_VISUALIZER_REPRESENTATION_POINTS for representing data as points on screen

PCL_VISUALIZER_REPRESENTATION_WIREFRAME for representing data as a surface wireframe on screen

PCL_VISUALIZER_REPRESENTATION_SURFACE for representing data as a filled surface on screen (r2500)

optimized performance of BoundaryEstimation (approximately 25% faster) (r2497)

added reference citation to estimateRigidTransformationSVD (r2492)

added a new keypoint for uniformly sampling data over a 3D grid called UniformSampling (r2413)

added a destructor to VoxelGrid<sensor_msgs::PointCloud2> (r2412)

optimized the performance of SampleConsensusModelLine (r2404)

changed the behavior of toc_print and toc from pcl::console:TicToc to return milliseconds (r2402)

added a new model, SAC_MODEL_STICK, for 3D segmentation (r2400)

added 2x point picking to PCLVisualizer; use Alt + Mouse Left click to select a pair of points and draw distances between them (r2388)

added two new functions (pcl::getMaxSegment) for determining a maximum segment in a given set of points (r2386)

moved filters/test/test_filters to test/test_filters (r2365)

renamed the binary executable in the compression.rst tutorial (r2345)

Updated library dependencies

removed the libfeatures dependency for `libpcl_surface (r2337)

removed the libpcl_io dependency from libpcl_surface (r2354)

removed libpcl_io dependency from libpcl_keypoints (r2364)

removed libpcl_io dependency for libpcl_filters (r2365)

removed libpcl_io dependency for libpcl_registration (r2372)

added a new function, pcl::concatenateFields for concatenating the fields of two sensor_msgs::PointCloud2 datasets (1933)

added a new countWithinDistance method to SampleConsensusModel (r2326), and optimized RANSAC and RRANSAC by replacing calls to selectWithinDistance with countWithinDistance (r2327)

added feature #330: new PCLVisualizer::addCube and pcl::visualization::createCube methods (r2322)

added correspondence.h to the includes in common/CMakeLists.txt (r2260)

implemented defaults for the search method, per http://www.pcl-developers.org/defaults-for-search-method-td4725514.html (r2219,r2220,r2222,r2225,r2226,r2228)

exposed pcl::PCLVisualizer::saveScreenshot (const std::string &filename) (r2095)

enabled pcd_io.hpp (r2085)

added a new faster binary writer + cloud/indices (r2080)

added pcl::RGB structure and switched bitshifting RGB code to use the pcl::RGB structure's members (r2077,r2078)

added a new IOException class for read/write exceptions (r2068)

added missing set/getAngleThreshold for BoundaryEstimation. Made class parameter protected. (r2067)

added functions in pcl::console for parsing CSV arguments of arbitrary length (r2052)

added new functionality to OrganizedFastMesh (r1996); Now support for modes:

fixed triangle meshing (left and right) that create quads and always cut them in a fixed direction,

adaptive meshing that cuts where possible and prefers larger differences in 'z' direction, as well as

quad meshing

improved OrganizedFastMesh's removal of unused points (r1996)

CMake changes (r2592)

changed the install dir of PCLConfig.cmake in Windows

renamed CMAKE_INSTALL_DIR into PCLCONFIG_INSTALL_DIR

NSIS installer will add a key in Windows Registry at HKEY_LOCAL_MACHINE\Software\Kitware\CMake\Packages\PCL to help CMake find PCL (CMake >= 2.8.5) (NSIS.template.in)

reordered CMAKE_MODULE_PATH entries, for CMake to pick up our NSIS.template.in

fixed CPACK_PACKAGE_INSTALL_REGISTRY_KEY value

Bug fixes

fixed bugs in PointCloud

in swap(), the point data was swapped, but the width and height fields were not (r2562)

in push_back(), adding points did not update the width/height of the point cloud (r2596)

in insert()/erase(), inserting or erasing points did not update the width/height of the point cloud (r2390)

fixed bugs in SampleConsensusModelRegistration

if target_ wasn't given, would crash with a boost shared uninitialized error (r2501)

homogeneous coordinates were wrong (r2502)

fixed a bug in BoundaryEstimation in case "angles" is empty (r2411)

fixed a bug in OrganizedFastMesh's adaptive cut triangulation; added a new unit test (r2138)

fixed a bug in the openni_image viewer tool (r2511)

fixed problems with Windows/MacOS ALT bindings in PCLVisualizer (r2558)

fixed issues

#139 (FPFHEstimation for non-trivial indices) (r2528)

#303 (make pcd_viewer reset the camera viewpoint when no camera given) (r1915)

#338 (cylinder segmentation tutorial was referring to a different file) (r2396)

#339 (the direction of the normal was wrongly estimated when setSearchSurface was given) (r2395)

#340 (keep_organized_ bug in ConditionalRemoval) (r2433)

#342 (Allow QT to be used with PCL Visualizer) (r2489)

#343 (empty() member function of a point cloud is not const) (r2440)

#350 (Misspelling in GreedyProjectionTriangulation::setMaximumSurfaceAgle()) (r2556)

added missing include in correspondence_rejection.h (r2393)

corrected the headers included by sample_consensus/sac_model.h (r2550)

removed duplicate content of NSIS.template.in (r2601)

fixed various casting related compiler warnings (r2532)

corrected typos in

Windows tutorial (CMAKE_INSTALL_DIR => CMAKE_INSTALL_PREFIX) (r2595)

registration/icp.h documentation (reg => icp) (r2515)

several apps/tools console messages (wotks => works) (r2491)

how_features_work.rst tutorial (Muechen => Muenchen) (r2484)

Source code(tar.gz)
Source code(zip)
pcl-1.1.1(Sep 5, 2013)
issues fixed: #224, #277, #288, #290, #291, #292, #293, #294, #295, #296, #297, #299, #302, #318, #319, #324, #325, #329

Additional fixes:

fixed a segfault in PCLVisualizer::addPointCloudNormals

fixed PCLVisualizer hanging on 'q' press

fixed a bug in MLS

fixed a bug in test_io

fixed a bug in PointCloudColorHandlerGenericField

fixed a bug when writing chars to ASCII .PCD files

fixed several errors "writing new classes" tutorial

added missing parameter setter in the "concave hull" tutorial

Source code(tar.gz)
Source code(zip)
pcl-1.1.0(Sep 5, 2013)
new 3D features:

SHOT (Signature of Histograms of Orientations)

PPF (Point-Pair Features)

StatisticalMultiscaleInterestRegionExtraction

MultiscaleFeaturePersistence

improved documentation:

sample consensus model coefficients better explained

new tutorials (RadiusOutlierRemoval, ConditionalRemovalFilter, ConcatenateClouds, IterativeClosestPoint, KdTreeSearch, NARF Descriptor visualization, NARF keypoint extraction, ConcaveHull, PCLVisualizer demo)

new surface triangulation methods:

MarchingCubes, MarchingCubesGreedy

OrganizedFastMesh

SurfelSmoothing

SimplificationRemoveUnusedVertices

new registration methods:

PyramindFeatureMatching

CorrespondenceRejectorSampleConsensus

new general purpose classes/methods:

Synchronizer

distance norms

TextureMesh

PointCloud.{isOrganized, getMatrixXfMap)

SACSegmentation now works with PROSAC too

PCDViewer now reads VTK files

new Mouse and Keyboard events for PCLVisualizer

PCLVisualizer.{addText3D, addCoordinateSystem (Eigen::Matrix4f), deleteText3D, updatePointCloud, renderViewTesselatedSphere, resetCameraViewpoint, getCameras, getViewerPose}

ONIGrabber, DeviceONI

ImageRGB24, IRImage

generic FileReader + FileWriter

optimizations:

faster pipelinening by not recreating a fake set of indices everytime

rendering optimizations for PCLVisualizer

copyPointCloud is now faster and can copy the intersections of the fields in both input datasets

VoxelGrid is now ~20Hz for Kinect data

new applications:

VFH NN classification

3D concave hulls

3D convex hulls

ICP registration

Planar segmentation

Stream compression

Range image viewer

Voxel Grid

IntegralImage normal estimation

issues fixed: #75, #106, #118, #126, #132, #139, #156, #182, #184, #189, #197, #198, #199, #201, #202, #203, #210, #213, #211, #217, #223, #225, #228, #230, #231, #233, #234, #240, #247, #250, #251, #254, #255, #257, #258, #259, #261, #262, #264, #265, #266, #267, #268, #269, #273, #276, #278, #279, #281, #282, #283

Source code(tar.gz)
Source code(zip)
pcl-1.0.1(Sep 5, 2013)
please note that version 1.0.0 had a flaw when creating ASCII pcd files. This version includes the tool pcd_convert_NaN_nan to fix this

added VTK file visualization to pcd_viewer

hiding the cminpack/FLANN headers, thus reducing compile time for user code

fixed IntegralImageNormalEstimation

tutorial updates and fixes + new tutorials. Changed tutorial structure to split CPP files from RST text.

better doxygen documentation for many functions

fixed a bug in ConditionalRemovalFilter where the keep_organized condition was reversed

removed BorderDescription and Histogram<2> from the list of explicit template instantiations

added PointXY point registration macros

added ExtractIndicesSelf unit test

fixed a lot of alignment issues on 32bit architectures

PCD ascii files now have each individual line trimmed for trailing spaces

internal changes for PCDReader/PCDWriter, where NAN data is represented as "nan"

sped up compilation with MSVC by adding /MP for multiprocessor builds

added a voxel grid command line tool filter

issues fixed: #242, #207, #237, #215, #236, #226, #148, #214, #218, #216, #196, #219, #207, #194, #192, #183, #178, #154, #174, #145, #155, #122, #220

added support for PathScale pathcc compiler

added support for Intel icc C++ compiler

added support for GCC 4.6 C++ compiler

added preliminary support for Clang C++ compiler

FindPCL.cmake and PCLConfig.cmake completed

Source code(tar.gz)
Source code(zip)

Point Cloud Library (PCL)

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Releases(pcl-1.13.0)

pcl-1.13.0(Dec 10, 2022)

pcl-1.13.0-rc1(Nov 20, 2022)

pcl-1.12.1(Dec 21, 2021)

pcl-1.12.1-rc1(Dec 13, 2021)

pcl-1.12.0(Jul 7, 2021)

pcl-1.12.0-rc1(Jun 30, 2021)

pcl-1.11.1(Aug 14, 2020)

pcl-1.11.1-rc2(Aug 13, 2020)

pcl-1.11.1-rc1(Aug 6, 2020)

pcl-1.11.0(May 11, 2020)

pcl-1.10.1(Mar 19, 2020)

pcl-1.10.0(Jan 19, 2020)

pcl-1.9.1(Nov 26, 2018)

= 1.9.1 (26.11.2018) =

Modules:

Uncategorized:

CMake:

libpcl_visualization:

PCL Tutorials:

PCL Tests:

CI:

pcl-1.9.0(Nov 6, 2018)

= 1.9.0 (06.11.2018) =

New Features:

Deprecated:

Removed:

Behavioral changes:

API changes:

ABI changes:

Modules:

Uncategorized:

CMake:

libpcl_2d:

libpcl_common:

libpcl_cuda:

libpcl_features:

libpcl_filters:

libpcl_gpu:

libpcl_io:

libpcl_kdtree:

libpcl_keypoints:

libpcl_ml:

libpcl_octree:

libpcl_outofcore:

libpcl_people:

libpcl_recognition:

libpcl_registration:

libpcl_sample_consensus:

libpcl_search:

libpcl_segmentation:

libpcl_simulation:

libpcl_surface:

PCL Apps:

PCL Docs:

PCL Tutorials:

PCL Examples:

PCL Tests:

PCL Tools:

`Modules:`

`Uncategorized:`

`CMake:`

`libpcl_visualization:`

`PCL Tutorials:`

`PCL Tests:`

`CI:`

`New Features:`

`Deprecated:`

`Removed:`

`Behavioral changes:`

`API changes:`

`ABI changes:`

`Modules:`

`Uncategorized:`

`CMake:`

`libpcl_2d:`

`libpcl_common:`

`libpcl_cuda:`

`libpcl_features:`

`libpcl_filters:`

`libpcl_gpu:`

`libpcl_io:`

`libpcl_kdtree:`

`libpcl_keypoints:`

`libpcl_ml:`

`libpcl_octree:`

`libpcl_outofcore:`

`libpcl_people:`

`libpcl_recognition:`

`libpcl_registration:`

`libpcl_sample_consensus:`

`libpcl_search:`

`libpcl_segmentation:`

`libpcl_simulation:`

`libpcl_surface:`

`PCL Apps:`

`PCL Docs:`

`PCL Tutorials:`

`PCL Examples:`

`PCL Tests:`

`PCL Tools:`

`CI:`

`CMake:`

`libpcl_2d:`

`libpcl_common:`

`libpcl_cuda:`

`libpcl_features:`

`libpcl_filters:`

`libpcl_gpu:`

`libpcl_io:`

`libpcl_keypoints:`

`libpcl_octree:`

`libpcl_recognition:`

`libpcl_registration:`

`libpcl_sample_consensus:`

`libpcl_segmentation:`

`libpcl_surface:`

`libpcl_visualization:`

`PCL Apps:`

`PCL Docs:`

`PCL Tests:`

`PCL Tools:`

`PCL Tutorials:`

`CI:`

`libpcl_common:`

`libpcl_features:`

`libpcl_filters:`

`libpcl_io:`

`libpcl_kdtree:`

`libpcl_keypoints:`

`libpcl_octree:`

`libpcl_people:`

`libpcl_recognition:`

`libpcl_registration:`

`libpcl_sample_consensus:`

`libpcl_search:`

`libpcl_segmentation:`

`libpcl_surface:`

`libpcl_tracking:`