v2.2.8

This is a new version of rmagine, which migrated some Mesh ICP computations from RMCL. Several tests have been added, I also took the opportunity to clean up the interface for single hypothesis correction aka pose tracking. All other external software should still work, so I just increased the patch version.

New

• CrossStatistics math type, which contains two means a covariance and the number of measurements. Also the reduction function from the MICP-L paper is integrated
• PointCloudView. Contains views to existing memory buffer. We use it for cleaner, and more readable interfaces, while not losing any runtime.
• Functions for registration. Correspondence search, Umeyama-based optimization

Improvements

• integrated support for multi-block computation in the non-batch version of "sum"

Tests

• statistics for CPU (core)
• statistics for GPU (cuda)
• Embree correction: finding RCC using embree, optimizing using CPU-Umeyama
• OptiX correction: finding RCC using optix, optimizing using GPU-Umeyama

v2.2.7

• implemented umeyama functions
• made general math functions lower case. Solves problems with defines from other libraries shadowing the function names
• added comments

v2.2.6

v2.2.6

• SVD implementation based on "Numerical Recipes" that works out of the box on CPU as well as in CUDA kernels. First test results show speed up and accuracy over Eigen/cusolver. Need to conduct further experiments. Perhaps directly with RMCL.
• added convenience functions to sensor models and embree simulators.
• Added rmagine-ouster component
  • Dependency: jsoncpp
  • Loading Ouster Meta files as rmagine sensor model

Additional things

• removed obsolote functions.
• made types polyscope compatible

v2.2.5

Patch:

• closest point function: bug fixes, thread safe, const

v2.2.4

Patch:

• Embree: moved closestPoint logic to scene
• add convenience function to access map and model from simulator

v2.2.3

Patch: OptiX 8 support

v2.2.2

• const simulation calls
• package.xml -> tested with ROS-noetic
• cleanup cmake install scripts

v2.2.1

Patch:

• CMake find script fix for CPU only machines

v2.2.0

Rework of build and install system.

Major changes:

• Components for each part of the library: rmagine::core, rmagine::embree, rmagine::cuda, rmagine::optix
• Debian package generation with CPack
• Removed Embree 3 support

Note: Attached binaries are compiled with Ubuntu 20.04, Embree 4.2.0, Cuda 11.4, Nvidia-driver 470.199.02, OptiX 7.3.0.

v2.1.1

Patch:

Preparations to fully implement new feature: Integrate CUDA unified memory.

• Implemented respective Memory object UNIFIED_CUDA including alloc, free, copy, stream copy functions
• OptiX simulators can now additionally simulate to unified memory. Mixing memory is possible as well.

TODOs missing to next minor version change: Add UNIFIED_CUDA into Embree Simulators without breaking compatibility for CPU only devices