PCL1.9.0的開源安裝包已經發布一段時間，重要的更新有，下載頁.

下載：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..........................................................

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