Point Cloud Library 1.9.1 has been released

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Point Cloud Library 1.9.1

PCL 1.9.1 has been released.

• Source Code
• Change List

What’s New?

PCL 1.9.1 contains many bug fixes. Please see ChangeList for details.

We implemented CI for Windows, Linux, and Mac environments on Azure Pipelines. All commits are built and tested.
Also, The CMake minimum required version is CMake 3.1 from PCL 1.9.1. Please update CMake on your emvironment.

What is it?

The features are contained in the PCL as follows.

• filters
• fuatures
• keypoints
• registration
• kdtree
• octree
• segmentation
• sample consensus
• surface
• range image
• io
• visualization

Development Environment

PCL supported OS is Linux, Windows, MacOS X, and other.
Supported development language is C++ and Python.
PCL use internally main dependent libraries (3rdParty) is as follows.^*1

Required

• Boost (C ++ Semi Standard Library)
• Eigen (Matrix Library)
• FLANN (Nearest Neighbor Search Library)
• VTK (Visualization Library)

Optional

• QHull (Computational Geometry Library)
• OpenNI/OpenNI2 (RGB-D Sensor Library)

^{*1 In addition, depends on other 3rdParty by function. Qt (GUI Library), CUDA (GPU Development Environment), PCAP (Packet Capture), GLUT (OpenGL Utility Toolkit), GLEW (OpenGL Extension Library), etc.}

Download Installer

“PCL All-in-one Installer” is includes pre-built libraries of PCL and 3rdParty.
You can download from the following link.
Please install PCL and 3rdParty by using the downloaded installer.

^{2018/11/06 Release Installer (PCL 1.9.1, Boost 1.68.0, Eigen 3.3.5, FLANN 1.9.1, VTK 8.1.2 (OpenGL backend), QHull 2015.2, OpenNI 2.2.0.33 Beta)}

Visual Studio 2017

• PCL 1.9.1 All-in-one Installer MSVC2017 Win32
• PCL 1.9.1 PDB MSVC2017 Win32 (symbol files)
• PCL 1.9.1 All-in-one Installer MSVC2017 x64
• PCL 1.9.1 PDB MSVC2017 x64 (symbol files)

Set Environment Variables

Please set as following the environment variables of system and re-boot your system.

Generate Your Own Project using CMake

I strongly recommend that to generate project using CMake.^*2
Please refer to following documents about How to use CMake and CMakeLists.
In Addition, Please refer to basic CMakeLists for using PCL.

^{*2 I recommend that to use CMake 3.8.0 or later.}

How to use CMake?

• How to use PCL in your own project | PCL (en-US)
• CMake Tutorial | CMake (en-US)

How to write CMakeLists?

• How to write CMakeLists for Visual Studio (ja-JP)
• CMake Advent Calendar 2014 | Qiita (ja-JP)

Basic CMakeLists for PCL

• Basic CMakeLists.txt for PCL

cmake_minimum_required( VERSION 2.8 )

# Create Project
project( solution )
add_executable( project main.cpp )
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find Packages
find_package( PCL 1.9 REQUIRED )

if( PCL_FOUND )
  # Additional Include Directories
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${PCL_INCLUDE_DIRS} )

  # Preprocessor Definitions
  # [C/C++]>[Preprocessor]>[Preprocessor Definitions]
  add_definitions( ${PCL_DEFINITIONS} )
  #add_definitions( -DPCL_NO_PRECOMPILE )

  # Additional Library Directories
  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${PCL_LIBRARY_DIRS} )

  # Additional Dependencies
  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${PCL_LIBRARIES} )
endif()

How to Build Libraries (PCL 1.9.1 and 3rdParty) from Source Code yourself

In many cases, You can use the All-in-one Installer for using PCL.
But, If you want to enable other options or use other compilers, You need to build PCL and 3rdParty yourself.

I will publish the notes of how to build PCL 1.9.1 and latest version 3rdParty.
Please refer to this Notes who want to build the libraries (PCL 1.9.1 and 3rdParty) yourself.

3rdParty Build Notes

• Building Boost 1.68.0 with Visual Studio
• Building Eigen 3.3.5 with Visual Studio
• Building FLANN 1.9.1 with Visual Studio
• Building QHull 2015.2 with Visual Studio
• Building VTK 8.1.2 with Visual Studio

PCL Build Note

• Building PCL 1.9.1 with Visual Studio

How to Contribution (issue report, send pull request) and Question?

If you find a bug, you can reported to issues of GirHub.
If you can be fixed bug, you can send pull requests to GitHub repository.

And, If you have any questions, you can post to the PCL Users mailing list.
Please attach the following information in these reports. It will help to resolve your problem.
(You need to tell the appropriate information to resolve your problem.)

• Error Code and Message
• Adequate and Simple Source Code for Reproduce or Tutorial URL (e.g. source code sharing service URL like gist)
• CMake Cache (<CMAKE_BINARY_DIR>CMakeCache.txt) ^*IMPORTANT
• CMake Logs (<CMAKE_BINARY_DIR>CMakeFilesCMakeOutput.log)
• PCL Version (or Commit Hash)
• Target Compiler and Configure (e.g. “Visual C++ 2017, Release|x64”)
• Operating System (e.g. “Windows 10 Pro (update 1703) 64bit”)