Changelog#

For the complete changelog, please see the CHANGELOG.md file in the repository.

Recent Releases#

v3.9.4-Beta (Latest Release - Feb 12, 2025)#

New Features:

  • VTK PBR rendering support for multiple texturing

  • Texturing Atlas support for reconstruction module

  • Excellent Texture mesh rendering support

  • 2D Image Rendering with transparency feature

  • Qt6 compatible interface strategy

  • Cork plugin for Linux and macOS

  • Ruler, protractor, and contour widgets (VTK-based measurement tools)

  • Selection tools based on VTK

  • Color filtering (Gaussian, Bilateral, Median, Mean filters)

  • Custom keyboard shortcuts setting dialog

  • New entities: Circle and Disc

  • View property for ccObject

  • Light specular intensity adjustment

  • AxesGrid support for ccObject

  • Documentation support

Bug Fixes:

  • Fixed Illegal instruction issues with PCL and ACloudViewer

  • Fixed crash on Ubuntu 22.04 for reconstruction due to misalignment

  • Fixed Python env package issues with pyenv manager

  • Fixed numpy version > 2.x issues

  • Fixed ReconstructionOptionsWidget crash issues

Enhancements:

  • Replace #ifndef with #pragma once

  • Use GLIBCXX_USE_CXX11_ABI=ON by default

  • CUDA support 11.8 → 12.6.3, TensorFlow 2.16.2 → 2.19.0, PyTorch 2.2.2 → 2.7.1

  • Change python package file name from cloudViewer* to cloudviewer* (PEP 503)

  • Code style check support

New Plugins:

  • G3 Point - Granulometry made simple

Supported Platforms:

  • Windows x86/64

  • Linux x86/64

  • macOS X64 && arm64 (M1-4)

v3.9.3 (Oct 14, 2025)#

New Features:

  • ScaleBar support

  • Doppler ICP in tensor registration pipeline

  • In-memory loading of XYZ files

  • Python pathlib support for file IO

  • Albedo texture to mesh from calibrated images

  • FlyingEdges algorithm for isosurface extraction

  • O3DVisualizer API improvements

  • Radio button support

  • Updated GLFW and jupyter web_visualizer

Bug Fixes:

  • Fixed build with librealsense v2.44.0 and VS 2022 17.13

  • Fixed Windows CI issues (VS 16 2019 → VS 17 2022)

  • Fixed display issues with text on macOS

  • Fixed TriangleMesh sampling methods

  • Fixed tensor-based TSDF integration

  • Fixed geometry picker errors with LineSet objects

  • Fixed render to depth image on Apple Retina displays

  • Fixed missing liblapack.so issues

  • Fixed CloudViewerApp no GUI display issues

Enhancements:

  • Updated 3rdparty versions

  • Exposed more functionality in SLAM and odometry pipelines

  • Refactored python examples directory

  • Robust image I/O

  • Default dataset loading in reconstruction system

Supported Platforms:

  • Windows x86/64

  • Linux x86/64

  • macOS X64 && arm64 (M1-4)

v3.9.2 (Dec 22, 2024)#

New Features:

  • Save project menu entry (File > Save project or CTRL+SHIFT+S)

  • Tools > Fit > circle (fits 2D circle on 3D point cloud)

  • CI support via GitHub Actions (macOS, Windows, Linux)

New Plugins:

  • qLASIO - Unified LAS file loader based on LASzip

  • VoxFall - Volumetric change detection for rockfalls

  • q3DMASC - 3D point cloud classification

  • qTreeIso - 3D graph-based individual-tree isolator

  • qPythonRuntime - Python automation support

  • 3DFin - 3D Forest Inventory (Python-based)

Enhancements:

  • Command line mode improvements (I/O plugins loaded)

  • PCD format improvements (integer and double coordinates, scan grids)

  • Animation plugin now uses ffmpeg 6.1

Supported Platforms:

  • Windows x86/64

  • Linux x86/64

  • macOS X64 && arm64 (M1-2)

v3.9.1 (Nov 15, 2024)#

Highlights:

  • Linux auto CI support for Ubuntu 18.04-22.04

  • Fully supported Docker building

  • Updated PCL version from 1.11.1 to 1.14.1

  • Updated VTK version from 8.2.0 to 9.3.1

  • Migrated from C++14 to C++17 as default

  • Python 3.12 support

Supported Platforms:

  • Windows x86/64

  • Linux x86/64

  • macOS arm64 (M1-2)

v3.9.0 (Apr 5, 2023)#

New Features:

  • Lock rotation axis feature

  • Animation display features

  • Scalar field switch feature

  • PLY mesh texture_u and texture_v support

  • New platform support: macOS

Supported Platforms:

  • Windows x86/64

  • Linux x86/64

  • macOS arm64 (M1-2)

v3.8.0 (Oct 10, 2021)#

Major Features:

  • New 3D reconstruction system based on COLMAP

  • Real-time 3D reconstruction pipeline (VoxelHashing with GPU/CPU)

  • Real-time point cloud registration (high-performance ICP)

  • New Neighbor Search module (KNN, RadiusSearch, GPU/CPU support)

  • Web visualizer for Jupyter and web environments

  • 3D machine learning models (PointRCNN, SparseConvNets)

  • Upgraded GUI module with new widgets

  • CUDA 11 support

Supported Platforms:

  • Windows x86/64

  • Linux x86/64

  • Linux ARM64

Release Schedule#

ACloudViewer follows semantic versioning (MAJOR.MINOR.PATCH):

  • Major: Breaking API changes

  • Minor: New features, backward compatible

  • Patch: Bug fixes, backward compatible

Beta releases are tagged with Beta suffix.

Getting Release Notifications#

To stay updated on new releases:

  1. Watch the Repository: Click “Watch” on GitHub

  2. Release Notes: Check GitHub Releases

  3. RSS Feed: Subscribe to the releases RSS feed

Version Support#

  • Latest Stable: Full support with bug fixes and security updates

  • Previous Minor: Security updates only

  • Older Versions: Community support, no official updates

Upgrading#

When upgrading between versions:

  1. Review the Changelog: Check for breaking changes

  2. Update Dependencies: Ensure compatible library versions

  3. Test Thoroughly: Run your test suite after upgrading

  4. Report Issues: File bugs if you encounter problems

See Also#