pcl-1.9.0

= 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]