Libpointmatcher Versions Save

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics

1.4.2

1 month ago

What's Changed

Add dockerhub release logic and improve main readme by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/550
Update .gitingore with auto-generated patterns for C++, Python, JetBrains IDEs ,and VSCode by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/555
build: add ubuntu jammy to the repository suported version by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/557
fix: Change unit tests floating point type to double and add a precision argument to output streams by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/558
Update the minimum required Cmake version to 3.10.2 by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/560
fix: Issue 534 transformation tests failing on some platforms by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/559
Added orientation descriptor in RigidTransformation and SimilarityTransformation compute functions. by @simonpierredeschenes in https://github.com/norlab-ulaval/libpointmatcher/pull/553
Release 1.4.2 prep by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/562

Full Changelog: https://github.com/norlab-ulaval/libpointmatcher/compare/1.4.1...1.4.2

1.4.1

1 month ago

What's Changed

Release 1.4.1 by @clalancette in https://github.com/norlab-ulaval/libpointmatcher/pull/561

New Contributors

@clalancette made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/561

Full Changelog: https://github.com/norlab-ulaval/libpointmatcher/compare/1.4.0...1.4.1

1.4.0

4 months ago

Major changes:

New build system
C++17 support
Python bindings
4 DOF Point-to-plane error minimizer
Spectral Decomposition Datapoints Filter
Add Descriptor Datapoints Filter
Countless fixes and improvements, see the complete list below

Language, compilation, platforms and build system

Added missing include that made windows compilation fail. by @simonpierredeschenes in https://github.com/norlab-ulaval/libpointmatcher/pull/343
Modernize cmake; make cmake compatible with git submoduling by @jlblancoc in https://github.com/norlab-ulaval/libpointmatcher/pull/382
Fix build of downstream packages. by @peci1 in https://github.com/norlab-ulaval/libpointmatcher/pull/407
The keyword "or" is not supported by windows compilers. by @kubelvla in https://github.com/norlab-ulaval/libpointmatcher/pull/418
Get rid of the Visual C++ warnings by @afabri in https://github.com/norlab-ulaval/libpointmatcher/pull/355
Automaticaly find eigen3 by @maximecharriere in https://github.com/norlab-ulaval/libpointmatcher/pull/448
Windows: Fix Narrowing conversion of seed in MaxPointCount by @maxGimeno in https://github.com/norlab-ulaval/libpointmatcher/pull/470
Build python binding as regular package by @KernelA in https://github.com/norlab-ulaval/libpointmatcher/pull/506
Handle libnabo config mode by @sloriot in https://github.com/norlab-ulaval/libpointmatcher/pull/513
libpointmatcher build-system by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/518
build-system minor mod by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/519
fix: build-system side unstable compilation issue fix [NMO-402] by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/539
fix: N2ST path resolution in dependencies-doc docker image by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/541
Fixes to CMake library management config generation by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/538
fix: refactor hardcoded build system path using environment variable and substitution by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/542
refactor(release-prep): doc update and libpointmatcher-build-system logic refactoring to submodule by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/543
feat: Move libpointmatcher build-system logic to norlab-build-system submodule (clean-up and polish) by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/545
fix: Build system improvements and fixes by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/546
Migrate to C++17 by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/536
feat: implement libpointmatcher turnkey install scripts for user who have cloned the repo by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/547
Fixed compilation on Visual Studio 2022 by @soesau in https://github.com/norlab-ulaval/libpointmatcher/pull/494
Fixes for windows by @maxGimeno in https://github.com/norlab-ulaval/libpointmatcher/pull/437

catkin not required for pure cmake packages by @Timple in https://github.com/norlab-ulaval/libpointmatcher/pull/482

Link against pthread by @YoshuaNava in https://github.com/norlab-ulaval/libpointmatcher/pull/417
Disable static boost linkage by default by @KernelA in https://github.com/norlab-ulaval/libpointmatcher/pull/530
Add Boost_LIBRARIES to pointmatcher_LIBRARIES by @maxGimeno in https://github.com/norlab-ulaval/libpointmatcher/pull/441
Add libpointmatcher_INCLUDE_DIR to match with CGAL by @maximecharriere in https://github.com/norlab-ulaval/libpointmatcher/pull/446

Error minimizers

Change icp chain image to an svg by @PhiBabin in https://github.com/norlab-ulaval/libpointmatcher/pull/340
Feature/4 dof for point to plane minimizer by @kubelvla in https://github.com/norlab-ulaval/libpointmatcher/pull/378
Add missing force4DOF param to PointToPlaneWithCov by @bhavitp in https://github.com/norlab-ulaval/libpointmatcher/pull/384
Fix 4DoF PointToPlane error minimizer crash by @kaatrasa in https://github.com/norlab-ulaval/libpointmatcher/pull/492
RemoveBeyond option for the maxQuantileDistance filter by @dagata-mining in https://github.com/norlab-ulaval/libpointmatcher/pull/452
Add option to weight by reading pc by @hermannsblum in https://github.com/norlab-ulaval/libpointmatcher/pull/439

Data point filters

Fix/normal space hashing by @jsburklund in https://github.com/norlab-ulaval/libpointmatcher/pull/327
Improve speed of Normal Space filtering by @jsburklund in https://github.com/norlab-ulaval/libpointmatcher/pull/328
Fix/clamp normals by @jsburklund in https://github.com/norlab-ulaval/libpointmatcher/pull/326
[feature/spdf] Add SpectralDecompositionFilter (SpDF) by @MathLabu in https://github.com/norlab-ulaval/libpointmatcher/pull/411
[DataPoints] Added check to prevent unsigned int underflow in getEuclideanDim() by @YoshuaNava in https://github.com/norlab-ulaval/libpointmatcher/pull/414
Feature/speedup random sampling filter by @YoshuaNava in https://github.com/norlab-ulaval/libpointmatcher/pull/396
Fix weird behavior of MaxPointCountDataPointsFilter by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/464
Add seed to Random sampling filter by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/501
Fix time values after applying Sampling surface normal filter by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/502
New DataPoints filter for descriptor augmentation by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/535
Fix octree sampling by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/540
Fix the surface normals datapoints filter covariance matrix bug by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/465
Apply the transformation to eigen vectors by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/467
Change storage ordering of the eigen vectors descriptors by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/468
Bug fix in SurfaceNormalOutlierFilter by @cjamin in https://github.com/norlab-ulaval/libpointmatcher/pull/457
Updated the inner loop counter by @harsh-su in https://github.com/norlab-ulaval/libpointmatcher/pull/521

Documentation

Update link to documentation in readme by @PhiBabin in https://github.com/norlab-ulaval/libpointmatcher/pull/350
[WIP] Fix/typo : Tutorials improvements by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/386
Fixes tutorials formatting problem (#373) by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/387
Fix/typo Fixes tutorials building failure by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/388
Outlier filter documentation added by @nimisbert in https://github.com/norlab-ulaval/libpointmatcher/pull/392
Adding the new outlierfilters documentation to mkdocs .yml by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/394
Added reference for PointToPlaneWithCov ErrorMinimizer. by @simonpierredeschenes in https://github.com/norlab-ulaval/libpointmatcher/pull/398
Fixed the differences between examples and documentation (#409) by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/410
Reorganization of the compiling tutorials for ubuntu and macos by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/400
Strong Windows installation tutorial update by @maximecharriere in https://github.com/norlab-ulaval/libpointmatcher/pull/447
Add more details in pypointmatcher's installation docs by @IamPhytan in https://github.com/norlab-ulaval/libpointmatcher/pull/495
Update README.md by @pomerlef in https://github.com/norlab-ulaval/libpointmatcher/pull/525
Update CompilationPython.md by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/527
Create LICENSE file based on BSD license as per package.xml by @Timple in https://github.com/norlab-ulaval/libpointmatcher/pull/485
Update readme_test.md for docker daemon test by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/524
Create readme_test.md by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/522
Update CompilationWindows.md by @NattyBumppo in https://github.com/norlab-ulaval/libpointmatcher/pull/456
Fix windows doc by @maxGimeno in https://github.com/norlab-ulaval/libpointmatcher/pull/436
Typo in PCL lib name by @andre-nguyen in https://github.com/norlab-ulaval/libpointmatcher/pull/422

Miscellaneous

refactor: Drop support for yaml-cpp old API by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/450
[WIP] feature/python_module : Adding libpointmatcher's Python bindings (#222) by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/397

Fix typo by @haampie in https://github.com/norlab-ulaval/libpointmatcher/pull/332

Add support for Travis by @PhiBabin in https://github.com/norlab-ulaval/libpointmatcher/pull/337
Fix segfault happening in ICPSequence class by @simonpierredeschenes in https://github.com/norlab-ulaval/libpointmatcher/pull/348
Fix out-of-bounds access by @jlblancoc in https://github.com/norlab-ulaval/libpointmatcher/pull/385
Replaced the remaining raw pointers with shared pointers in Registrar.h by @aguenette in https://github.com/norlab-ulaval/libpointmatcher/pull/395
Change matrix type by @afabri in https://github.com/norlab-ulaval/libpointmatcher/pull/354
Feature/geometry data points filter for master by @kubelvla in https://github.com/norlab-ulaval/libpointmatcher/pull/374
Implemented an in-place method for transforming DataPoints objects by @YoshuaNava in https://github.com/norlab-ulaval/libpointmatcher/pull/419
Include iso646.h to add and, or, not macros by @maximecharriere in https://github.com/norlab-ulaval/libpointmatcher/pull/427
[Matches/OutlierFiltersImpl] Made convergence error messages more informative by @YoshuaNava in https://github.com/norlab-ulaval/libpointmatcher/pull/453
Histogram::computeStats() without sorting the Histogram by @maximecharriere in https://github.com/norlab-ulaval/libpointmatcher/pull/479
package format=3 by @Timple in https://github.com/norlab-ulaval/libpointmatcher/pull/487
Use the LOG_INFO_STREAM macro instead of std::cerr by @maximecharriere in https://github.com/norlab-ulaval/libpointmatcher/pull/490
Release by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/523
Fix Transformations test build when using Eigen3.4 by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/531
Fix 2D transformation tests in debug by @boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/533
THE 2023 release by @RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/544

New Contributors

@jsburklund made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/327
@haampie made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/332
@kubelvla made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/378
@jlblancoc made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/385
@aguenette made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/386
@bhavitp made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/384
@afabri made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/354
@nimisbert made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/392
@peci1 made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/407
@YoshuaNava made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/414
@andre-nguyen made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/422
@maximecharriere made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/427
@maxGimeno made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/436
@hermannsblum made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/439
@dagata-mining made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/452
@NattyBumppo made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/456
@cjamin made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/457
@Timple made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/482
@kaatrasa made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/492
@IamPhytan made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/495
@soesau made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/494
@KernelA made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/506
@sloriot made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/513
@RedLeader962 made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/518
@harsh-su made their first contribution in https://github.com/norlab-ulaval/libpointmatcher/pull/521

Full Changelog: https://github.com/norlab-ulaval/libpointmatcher/compare/1.3.1...1.4.0

1.3.1

5 years ago

Added documentation for people using ROS.
Increased libnabo minimal version to 1.0.7.
Added interface to inform if maximum number of iterations was reached.
Fixed portability issue of the FileLogger.
Fixed unit tests on Windows.
Fixed parameter-less modules having 'unknown' as class name.
Updated Windows compilation tutorial.
Fixed compilation problems on Windows.
Fixed PointToPlan error residual.
Changed DOI resolver link in documentation.
Added validation for the input transformation matrix in ICP.cpp.
Removed duplication of PointToPoint compute in PointToPointWithCov.
Added the RemoveSensorBias filter.
Splitted ErrorMinimizersImpl.cpp into multiple files.

1.3.0

5 years ago

Removed some boost utilities supported by c++11 and replaced raw pointers by std smart pointers.

1.2.4

5 years ago

New data filters were introduced, such as SurfaceNormalDataPointsFilter, OctreeGridDataPointsFilter and NormalSpaceDataPointsFilter. This release will work with Eigen3.3.

1.2.3

6 years ago

This release will work with Eigen 3.2 but not Eigen 3.3. If you are on Ubuntu 16.04, it is recommended to use the branch master instead.

1.2.1

9 years ago

Fixes in 1.2.1

Yaml-cpp0.3 now included for compatibility with newer Ubuntu systems using yaml-cpp0.5
Fixed bug with soft outlier weights in error minimization
Fixed some issues for releasing into ROS ecosystem
Contributors: François Pomerleau, Mike Bosse, Samuel Charreyron, Simon Lynen

1.2.0

9 years ago

New Features for v1.2.0:

Added a new data filter: VoxelGrid
Added support for PCL (Point Cloud Library) data format: PCD
Improved *.vtk legacy format to handle UNSTRUCTURED_GRID format
New ErrorMinimizer producing covariance matrix
Better user documentation and tutorials
Avoids point cloud copies when filtering
Added CMake support for find_package
Added support for PLY (Polygon File Format or the Stanford Triangle Format) for ascii encoding
Improved CSV file support with import/export of selected descriptors