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Merge pull request #5515 from mvieth/changelog_1_13_0
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Add changelog for 1.13.0
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@mvieth
mvieth authored Nov 19, 2022
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# ChangeList

## = 1.13.0 (10 December 2022) =

### Notable changes

**New features** *added to PCL*

* **[ci]** Add new CI to cover uncommon configurations, running weekly [[#5208](https://github.com/PointCloudLibrary/pcl/pull/5208)]
* **[common]** Added PointCloudXYZHSVtoXYZRGB function [[#5220](https://github.com/PointCloudLibrary/pcl/pull/5220)]
* **[visualization]** Add option to enable EDL rendering. [[#4941](https://github.com/PointCloudLibrary/pcl/pull/4941)]
* **[io]** Add empty point cloud support at pcd file. [[#5400](https://github.com/PointCloudLibrary/pcl/pull/5400)]
* **[filters]** FrustumCulling: allowing infinite far plane distance [[#5433](https://github.com/PointCloudLibrary/pcl/pull/5433)]
* **[filters]** FrustumCulling: asymmetrical Field of View [[#5438](https://github.com/PointCloudLibrary/pcl/pull/5438)]
* **[filters]** Add farthest point sampling filter [[#3723](https://github.com/PointCloudLibrary/pcl/pull/3723)]
* **[sample_consensus]** Adds Ellipse3D SacModel Class [[#5512](https://github.com/PointCloudLibrary/pcl/pull/5512)]

**Deprecation** *of public APIs, scheduled to be removed after two minor releases*

* **[gpu]** Use C++11 `std::atomic` instead of non-standard extensions [[#4807](https://github.com/PointCloudLibrary/pcl/pull/4807)]
* **[registration]** Use likelihood instead of probability in `ndt` [[#5073](https://github.com/PointCloudLibrary/pcl/pull/5073)]
* **[gpu]** Remove hand-rolled `static_assert` [[#4797](https://github.com/PointCloudLibrary/pcl/pull/4797)]
* Deprecate remaining three boost.h headers [[#5486](https://github.com/PointCloudLibrary/pcl/pull/5486)]

**Removal** *of the public APIs deprecated in previous releases*

* Remove deprecated code before PCL 1.13.0 release [[#5375](https://github.com/PointCloudLibrary/pcl/pull/5375)]

**Behavior changes** *in classes, apps, or tools*

* **[cmake]** Drop version from pkg-config files, now accessible as `pcl_{module}.pc` [[#4977](https://github.com/PointCloudLibrary/pcl/pull/4977)]

**API changes** *that did not go through the proper deprecation and removal cycle*

* **[filters]** applyFilter() made protected [[#4933](https://github.com/PointCloudLibrary/pcl/pull/4933)]

**ABI changes** *that are still API compatible*

* **[filters]** Add `PCL_MAKE_ALIGNED_OPERATOR_NEW` to CropBox for better Eigen support [[#4962](https://github.com/PointCloudLibrary/pcl/pull/4962)]
* **[features]** Add more configuration options to GRSDEstimation [[#4852](https://github.com/PointCloudLibrary/pcl/pull/4852)]
* **[sample_consensus]** Implement `SampleConsensusModelSphere<PointT>::projectPoints` properly [[#5095](https://github.com/PointCloudLibrary/pcl/pull/5095)]
* **[filters]** applyFilter() made protected [[#4933](https://github.com/PointCloudLibrary/pcl/pull/4933)]
* **[io]** Introduce buffer for texture coordinate indices in TextureMesh [[#4971](https://github.com/PointCloudLibrary/pcl/pull/4971)]
* **[filters]** Added region of interest for frustum culling [[#5136](https://github.com/PointCloudLibrary/pcl/pull/5136)]
* **[common]** constexpr constructors for point types [[#4646](https://github.com/PointCloudLibrary/pcl/pull/4646)]

### Changes grouped by module

#### CMake:

* **[behavior change]** Drop version from pkg-config files, now accessible as `pcl_{module}.pc` [[#4977](https://github.com/PointCloudLibrary/pcl/pull/4977)]
* Don't require boost in pkg-config [[#5110](https://github.com/PointCloudLibrary/pcl/pull/5110)]
* Link against atomic if needed (found on armel) [[#5117](https://github.com/PointCloudLibrary/pcl/pull/5117)]
* Add more error handling to some PCL CMake functions [[#5344](https://github.com/PointCloudLibrary/pcl/pull/5344)]
* Combine `PCL_SUBSUBSYS_DEPEND` with `PCL_SUBSYS_DEPEND` [[#5387](https://github.com/PointCloudLibrary/pcl/pull/5387)]
* Allow compilation with Boost 1.80 [[#5391](https://github.com/PointCloudLibrary/pcl/pull/5391)]
* Fix issue with `TARGET_PDB_FILE` [[#5396](https://github.com/PointCloudLibrary/pcl/pull/5396)]
* Fix append multiple BOOST_ALL_NO_LIB in preprocessor macro [[#5221](https://github.com/PointCloudLibrary/pcl/pull/5221)]
* Add define for static build google benchmark. [[#5492](https://github.com/PointCloudLibrary/pcl/pull/5492)]

#### libpcl_common:

* Fix division and subtraction operators [[#4909](https://github.com/PointCloudLibrary/pcl/pull/4909)]
* Add `PointXY` specific behavior to `transformPointCloud()` [[#4943](https://github.com/PointCloudLibrary/pcl/pull/4943)]
* Fix division by 0 width in `PointCloud` structured `assign` [[#5113](https://github.com/PointCloudLibrary/pcl/pull/5113)]
* RangeImage: add check before accessing lookup table [[#5149](https://github.com/PointCloudLibrary/pcl/pull/5149)]
* Fix build errors [[#5155](https://github.com/PointCloudLibrary/pcl/pull/5155)]
* **[new feature]** Added PointCloudXYZHSVtoXYZRGB function [[#5220](https://github.com/PointCloudLibrary/pcl/pull/5220)]
* **[ABI break]** constexpr constructors for point types [[#4646](https://github.com/PointCloudLibrary/pcl/pull/4646)]
* Add `bool`, `std::{u}int64_t` as possible point field types [[#4133](https://github.com/PointCloudLibrary/pcl/pull/4133)]

#### libpcl_cuda:

* Fix build errors [[#5155](https://github.com/PointCloudLibrary/pcl/pull/5155)]
* Remove `using namespace thrust` [[#5326](https://github.com/PointCloudLibrary/pcl/pull/5326)]
* Fix linking error for Kinfu [[#5327](https://github.com/PointCloudLibrary/pcl/pull/5327)]

#### libpcl_features:

* **[ABI break]** Add more configuration options to GRSDEstimation [[#4852](https://github.com/PointCloudLibrary/pcl/pull/4852)]
* Fix segfault executing multiscale feature persistence [[#5109](https://github.com/PointCloudLibrary/pcl/pull/5109)]
* Remove unnecessary member in SHOTEstimationBase [[#5434](https://github.com/PointCloudLibrary/pcl/pull/5434)]

#### libpcl_filters:

* **[ABI break]** Add `PCL_MAKE_ALIGNED_OPERATOR_NEW` to CropBox for better Eigen support [[#4962](https://github.com/PointCloudLibrary/pcl/pull/4962)]
* **[API break][ABI break]** applyFilter() made protected [[#4933](https://github.com/PointCloudLibrary/pcl/pull/4933)]
* Use `-FLT_MAX` instead of `FLT_MIN` for minimum value [[#5119](https://github.com/PointCloudLibrary/pcl/pull/5119)]
* **[ABI break]** Added region of interest for frustum culling [[#5136](https://github.com/PointCloudLibrary/pcl/pull/5136)]
* Fix missing definition "boost::optional" [[#5213](https://github.com/PointCloudLibrary/pcl/pull/5213)]
* Fix CropHull::applyFilter3D() [[#5255](https://github.com/PointCloudLibrary/pcl/pull/5255)]
* Fix UniformSampling filter by correcting distance calculation to voxel center [[#4328](https://github.com/PointCloudLibrary/pcl/pull/4328)]
* Fix error due to multiple declarations of template member function specializations in pyramid [[#3973](https://github.com/PointCloudLibrary/pcl/pull/3973)]
* Fix segfault of NDT for sparse clouds [[#5399](https://github.com/PointCloudLibrary/pcl/pull/5399)]
* **[new feature]** FrustumCulling: allowing infinite far plane distance [[#5433](https://github.com/PointCloudLibrary/pcl/pull/5433)]
* **[new feature]** FrustumCulling: asymmetrical Field of View [[#5438](https://github.com/PointCloudLibrary/pcl/pull/5438)]
* **[new feature]** Add farthest point sampling filter [[#3723](https://github.com/PointCloudLibrary/pcl/pull/3723)]
* PassThrough: add more checks for field type and name [[#5490](https://github.com/PointCloudLibrary/pcl/pull/5490)]

#### libpcl_gpu:

* **[deprecation]** Use C++11 `std::atomic` instead of non-standard extensions [[#4807](https://github.com/PointCloudLibrary/pcl/pull/4807)]
* **[deprecation]** Remove hand-rolled `static_assert` [[#4797](https://github.com/PointCloudLibrary/pcl/pull/4797)]
* Remove `using namespace thrust` [[#5326](https://github.com/PointCloudLibrary/pcl/pull/5326)]
* Fix linking error for Kinfu [[#5327](https://github.com/PointCloudLibrary/pcl/pull/5327)]

#### libpcl_io:

* **[ABI break]** Introduce buffer for texture coordinate indices in TextureMesh [[#4971](https://github.com/PointCloudLibrary/pcl/pull/4971)]
* Fix wrong header when saving PolygonMesh to ply file [[#5169](https://github.com/PointCloudLibrary/pcl/pull/5169)]
* Reimplement boost::split and optimize tokenization [[#5285](https://github.com/PointCloudLibrary/pcl/pull/5285)]
* Fixes Crash in pcl::PLYReader::amendProperty [[#5331](https://github.com/PointCloudLibrary/pcl/pull/5331)]
* Fix multiple memory corruption errors revealed by fuzzing [[#5342](https://github.com/PointCloudLibrary/pcl/pull/5342)]
* **[new feature]** Add empty point cloud support at pcd file. [[#5400](https://github.com/PointCloudLibrary/pcl/pull/5400)]
* Fix compile issues when compiling OpenNIDriver [[#5452](https://github.com/PointCloudLibrary/pcl/pull/5452)]
* PCDReader: remove fields with zero count instead of throwing exception while reading [[#4623](https://github.com/PointCloudLibrary/pcl/pull/4623)]
* PLYReader: Return empty handler if rgb doesn't exist when trying to add alpha value [[#5415](https://github.com/PointCloudLibrary/pcl/pull/5415)]

#### libpcl_keypoints:

* Fix HarrisKeypoint3D::refineCorners [[#5365](https://github.com/PointCloudLibrary/pcl/pull/5365)]
* Fix OpenMP compile issue under MSVC [[#5453](https://github.com/PointCloudLibrary/pcl/pull/5453)]

#### libpcl_octree:

* getSize: should return 0 when data_ is invalid [[#5352](https://github.com/PointCloudLibrary/pcl/pull/5352)]
* deleteTree: max_x_ was not reset [[#5353](https://github.com/PointCloudLibrary/pcl/pull/5353)]

#### libpcl_recognition:

* fix quantized normals' bin boundaries not consistent in different places in linemod [[#5464](https://github.com/PointCloudLibrary/pcl/pull/5464)]
* fix linemod binindex wrong range bug in surface normal modality [[#5444](https://github.com/PointCloudLibrary/pcl/pull/5444)]

#### libpcl_registration:

* Fix doxygen comment blocks in `ndt.h` [[#5080](https://github.com/PointCloudLibrary/pcl/pull/5080)]
* **[deprecation]** Use likelihood instead of probability in `ndt` [[#5073](https://github.com/PointCloudLibrary/pcl/pull/5073)]
* fix: use `similarity_threshold_squared_` instead of `cardinality_` in… [[#5236](https://github.com/PointCloudLibrary/pcl/pull/5236)]
* Fix of IterativeClosestPointWithNormals shared_ptr [[#4438](https://github.com/PointCloudLibrary/pcl/pull/4438)]
* print loss as debug for TransformationEstimationSVD and TransformationEstimationPointToPlaneLLS [[#5279](https://github.com/PointCloudLibrary/pcl/pull/5279)]
* add Scalar template variable to RegistrationVisualizer [[#5290](https://github.com/PointCloudLibrary/pcl/pull/5290)]
* add Scalar template variable to NormalDistributionsTransform [[#5291](https://github.com/PointCloudLibrary/pcl/pull/5291)]
* add Scalar template variable to GeneralizedIterativeClosestPoint [[#5312](https://github.com/PointCloudLibrary/pcl/pull/5312)]
* Fix segfault of NDT for sparse clouds [[#5399](https://github.com/PointCloudLibrary/pcl/pull/5399)]
* Fix can't compile getMeanPointDensity [[#5447](https://github.com/PointCloudLibrary/pcl/pull/5447)]
* GICP: correct matrix multiplication [[#5489](https://github.com/PointCloudLibrary/pcl/pull/5489)]

#### libpcl_sample_consensus:

* **[ABI break]** Implement `SampleConsensusModelSphere<PointT>::projectPoints` properly [[#5095](https://github.com/PointCloudLibrary/pcl/pull/5095)]
* **[new feature]** Adds Ellipse3D SacModel Class [[#5512](https://github.com/PointCloudLibrary/pcl/pull/5512)]

#### libpcl_surface:

* Fix mls voxel grid hashing out of bound [[#4973](https://github.com/PointCloudLibrary/pcl/pull/4973)]
* Fix nonsense code in pcl/surface/3rdparty/poisson4/sparse_matrix.hpp [[#5256](https://github.com/PointCloudLibrary/pcl/pull/5256)]
* GridProjection: scale output back to original size [[#5301](https://github.com/PointCloudLibrary/pcl/pull/5301)]
* Solve an internal compiler issue on MSVC 2022 within openNURBS [[#5463](https://github.com/PointCloudLibrary/pcl/pull/5463)]
* Fix segfault in mls::performUpsampling [[#5483](https://github.com/PointCloudLibrary/pcl/pull/5483)]

#### libpcl_visualization:

* Fix Bug between addText3D and QVTKWidget [[#5054](https://github.com/PointCloudLibrary/pcl/pull/5054)]
* Change static to const since it-stability is not guaranteed [[#5147](https://github.com/PointCloudLibrary/pcl/pull/5147)]
* Add missing vtk library for context2d. [[#5160](https://github.com/PointCloudLibrary/pcl/pull/5160)]
* Fix problem with spin() and spinOnce() for X Window System [[#5252](https://github.com/PointCloudLibrary/pcl/pull/5252)]
* add Scalar template variable to RegistrationVisualizer [[#5290](https://github.com/PointCloudLibrary/pcl/pull/5290)]
* Fix PCLVisualizer::addPointCloudPrincipalCurvatures [[#5369](https://github.com/PointCloudLibrary/pcl/pull/5369)]
* **[new feature]** Add option to enable EDL rendering. [[#4941](https://github.com/PointCloudLibrary/pcl/pull/4941)]
* Support handling numpad +/- key event for visualizer [[#5468](https://github.com/PointCloudLibrary/pcl/pull/5468)]
* Fix usage of dangling pointer in PCLVisualizer::getUniqueCameraFile [[#5481](https://github.com/PointCloudLibrary/pcl/pull/5481)]
* point and area picking improvement for cloud names [[#5476](https://github.com/PointCloudLibrary/pcl/pull/5476)]
* Access to a potential null pointer in interactor_style (#5503) [[#5507](https://github.com/PointCloudLibrary/pcl/pull/5507)]

#### PCL Apps:

* fix vtk-qt crash on macos for manual_registration app [[#5432](https://github.com/PointCloudLibrary/pcl/pull/5432)]
* Fix pcd_video_player crash on OSX [[#5421](https://github.com/PointCloudLibrary/pcl/pull/5421)]

#### PCL Tutorials:

* Fix alignment prerejective tutorial [[#5363](https://github.com/PointCloudLibrary/pcl/pull/5363)]

#### PCL Tools:

* Add check in pcd_viewer.cpp for padding fields [[#5442](https://github.com/PointCloudLibrary/pcl/pull/5442)]

#### CI:

* Fix benchmark compilation issue on Ubuntu 21.10 [[#5165](https://github.com/PointCloudLibrary/pcl/pull/5165)]
* **[new feature]** Add new CI to cover uncommon configurations, running weekly [[#5208](https://github.com/PointCloudLibrary/pcl/pull/5208)]
* Add clang-tidy in a GitHub workflow [[#4636](https://github.com/PointCloudLibrary/pcl/pull/4636)]
* Update vcpkg to version 2022.07.25 on x86 windows to fix libharu hash value error. [[#5418](https://github.com/PointCloudLibrary/pcl/pull/5418)]
* Install openni2 in windows dockers [[#5459](https://github.com/PointCloudLibrary/pcl/pull/5459)]

## = 1.12.1 (2021.12.21) =

This minor release brings in a lot of enhancements in CMake thanks to @larshg and @SunBlack.
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