News Articles

We're thrilled to announce that Point Cloud Library (PCL) version 1.1 has been released!

You can find the latest source and binaries on our download page:

http://www.pointclouds.org/downloads/.

Thanks to the hard work of all of our awesome contributors, we've got a big list of new features:

• 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

New to PCL? Visit our downloads page and give it a try. If you're looking for ideas on how to get started, be sure to check out our growing collection of tutorials.