PCL:PCL1.9.0更新

PCL 1.9.0 版本带来了多项重要更新,包括新增功能如 Viridis 色彩查找表、Octree 的迭代器实现、全局测试启用、GASD 全局点云描述符等;废弃了多项特性,如 Octree 的迭代器、EuclideanClusterComparator 方法等;并移除了过时的代码。

PCL1.9.0的开源安装包已经发布一段时间,重要的更新有,下载页.

下载:https://github.com/PointCloudLibrary/pcl/releases

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..........................................................
### PCL 1.9.0 安装教程 #### Windows 下安装 PCL 1.9.0 对于Windows操作系统,安装PCL 1.9.0涉及下载预编译的二进制文件并配置开发环境。解压`pcl-1.9.0-pdb-msvc2017-win64.zip`之后,应将解压缩后的文件夹内容添加至指定的PCL安装目录中,例如 `...\PCL 1.9.0\bin`[^1]。 为了使系统能够识别PCL库及其依赖项,在完成上述操作后还需要配置系统的环境变量。具体来说,应该把如下几个路径加入到系统的PATH环境中: - `E:\PCL 1.9.0\bin` - `E:\PCL 1.9.0\3rdParty\FLANN\bin` - `E:\PCL 1.9.0\3rdParty\Qhull\bin` - `E:\PCL 1.9.0\3rdParty\OpenNI2\Tools` - `E:\PCL 1.9.0\3rdParty\VTK\bin` 这些路径指向了PCL的核心组件以及第三方支持库的位置[^3]。 接着,在Visual Studio或其他IDE创建新项目时,需调整项目的属性来包含必要的头文件和链接器输入。这通常意味着更新C++项目的“附加包含目录”以覆盖PCL的include路径,并通过“附加库目录”指明静态或动态链接所需的`.lib`文件位置。 #### Ubuntu 下安装 PCL 1.9.0 在基于Debian/Ubuntu的操作系统上部署PCL则更加简便一些。首先确保已经安装了构建工具链和其他必需软件包,比如OpenGL相关的开发库可以通过命令行执行以下指令获取: ```bash sudo apt-get update && sudo apt-get upgrade -y sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev ``` 随后可以利用apt源直接安装PCL及相关依赖项,或者手动从官方发布的tarball进行编译安装。如果选择后者,则可能需要用到cmake作为跨平台的构建管理系统。下面是一个简单的CMakeLists.txt模板用于验证本地是否正确设置了PCL环境: ```cmake cmake_minimum_required(VERSION 2.8) project(pcl_test) find_package(PCL 1.9 REQUIRED) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_executable(pcl_test pcl_test.cpp) target_link_libraries (pcl_test ${PCL_LIBRARIES}) install(TARGETS pcl_test RUNTIME DESTINATION bin) ``` 这段脚本定义了一个名为`pcl_test`的小型应用程序,它会尝试连接到已发现的PCL库版本1.9及以上[^4]。
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