Releases: uos/rmagine
Releases · uos/rmagine
v2.2.10
Patches / downwards compatible changes:
- CrossStatistics objects can be transformed now
- New math objects: Gaussian1D, Gaussian2D, Gaussian3D
- Gaussian objects can be freely transformed between frames
- Gaussians have an additional field to indicate the number of samples. This makes it possible to merge any two Gaussians (as long as they are in the same frame)
v2.2.9
New patch release v2.2.9
- dynamic scheduling of Embree simulator's inner or outer loop parallelism based on the number of simulated sensor poses and the maximum available number of threads
- separated Embree acceleration structure from data by using shared geometry buffers functionality
- implemented transformation for point cloud scene elements (Embree)
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
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