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RoME.jl NEWS

RoME.jl follows semver, with only a few case specific exceptions. Please see repo's Milestones page for a more complete list of changes. This NEWS file lists select changes like to produce breaking changes downstream. Note serious efforts are taken to have both breaking and smaller changes go through a proper deprecation and warning printout cycle, consistent with JuliaLang convention.

v0.24

  • Manifolds based inertial odometry (preintegration). Replaces previous 2016-2016 generation InertialPose3 variables and factors.
  • Testing enhancements and fixes to restore tests for RoMEPlotting and Caesar Docs.
  • Minor code updates for standardized usage of new PyCaesar.jl.

v0.23

  • Bug fixes and maintenance.
  • Transfer work to using Manopt.jl as new solver, slowly replacing previous Optim.jl approach (see IncrementalInference.jl).
  • Extensions (weakdeps) replacement for legacy Requires.jl.

v0.21

  • Add SnoopPrecompile and Julia v1.8 min compat.
  • Remove FactorMetadata and ConvPerThread usage as per IIF v0.31.
  • Move code and files to subfolders services, entities, and legacy.
  • Added new features homograph_to_coordinates and coordinates_to_homography.

v0.20

  • Multiple factor upgrades and fixes to Manifolds.jl v0.8.11 and above.
  • Restore parametric batch solving.
  • Convert all Manifolds usage to ArrayPartition while removing ProductRepr.
  • Various bug fixes.

v0.19

  • Various standardizations and code quality improvements.
  • Expand parametric solving support for SpecialEuclidean(2) or (3).

v0.18

  • Various enhancements and maintenance fixes.
  • Better consolidation of factor serialization and clearing deprecations.
  • Maintenance on FluxPose2Pose2 factors to restore tests.
  • Fix various factor bugs in serialization and constructors.
  • Simplify CI testing.

v0.17

  • Graph generator API changing to generateGraph_ABC.
  • Factors that can default to field .Z for easier/better use of dispatch (#538).

v0.15

  • A new canonical generator's name is changed to generateCanonicalFG_Honeycomb! (#445), and instead keeping the previous but recent function name (#440) Beehive available for a different upcoming canonical graph generator.
  • Adding new generateCanonicalFG_Helix2D! plus convenience wrappers Slew and Spiral.
  • Deprecating generateCanonicalFG_ZeroPose2 and replaced by generateCanonicalFG_ZeroPose, already defaulting to keyword varType=Pose2.