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@jspricke jspricke released this 23 Jul 18:34
· 6567 commits to master since this release
pcl-1.7.0
5905d1c

We are proud to announce the new PCL version 1.7.

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

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
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