V0.4.0

What's Changed

• Enable windows teaserpp build by @yuecideng in #15
• Fix bug for windows build by @yuecideng in #18
• Implement 3D Offline Reconstruction Pipeline by @yuecideng in #19
• Label Maker for Instance-level 6D Pose Estiamtion by @yuecideng in #20

Full Changelog: v0.3.0...v0.4.0

V0.3.0

What's Changed

• Create Ubuntu CI file by @yuecideng in #11
• ppf:add no pose refine option by @mushroom-x in #13
• Add RayCastRenderer by @yuecideng in #14
• Add Windows VS2019+ build support.
• Fix bug for python binding of ransac cylinder fitting.
• Add Iterative Plane Fitting.

New Contributors

• @mushroom-x made their first contribution in #13

Full Changelog: v0.2.1...v0.3.0

v0.2.1

1. Add eigen matrix interface for corresponding matcher.
2. Unify DrawGeometry3D, which supports PointCloud, TriangleMesh and BoundingBox.
3. Improve RandomSampler.
4. Improve PPFEstimator.
5. Change edge point detection to boundary point detection.

V0.2.0

1. Remove spdlog and use open3d logging system. User can set log level same as open3d by m3d.set_verbosity_level(m3d.VerbosityLevel.Error)
2. Combine parallel and vanilla ransac fit model and remove enable_parallel arg of python binding
3. Add ppf pose estimator BOP challenge result: reference

Bug fix for edge mode of ppf estimator

small bug fix

Init basic library features

Misc3D v0.1.0 Release Notes

Core module

• common:
  1. Normals estimaiton from PointMap
  2. Ransac for primitives fitting, including plane, sphere and cylinder, and support parallel computing.
  3. K nearest neighbors search based on annoy. It has the similar API as open3d.geometry.KDTreeFlann class (the radius search is not supported).
• preprocessing:
  1. Farthest point sampling
  2. Crop ROI of point clouds.
  3. Project point clouds into a plane.
• features:
  1. Edge points detection from point clouds.
• registration:
  1. Corresponding matching with descriptors.
  2. 3D rigid transformation solver including SVD, RANSAC and TEASERPP.
• pose_estimation:
  1. Point Pair Features (PPF) based 6D pose estimator.
• segmentation:
  1. Proximity extraction in scalable implementation with different vriants, including distance, and normal angle.
• vis: Helper tools for drawing 6D pose, painted point cloud, triangle mesh and etc.