v0.5.0

In summary, this release:

• Removes ROS dependencies from the core library, turning it self-contained
• Adds automated Docker image deployment
• Resolves GitHub action runner Out of Memory (OOM) across tests and deployment
• Continues to support ROS for deployment and integration
• Refactors the core and removes legacy couplings

Note that this release breaks API, and that this library is still under heavy development. Thank you to all the contributors!

What's changed

Deployment

• Docker Image via CI by @Haydnspass in #93
• Fix tests OOM by @mhubii in #114
• Fix TestPyPI publish failure with dynamic dev versioning by @Copilot in #123

Code refactors

• Fix: correct misspelling of Kabsch algorithm name by @aymuos15 in #88
• Move cli into separate folder (#90) by @mhubii in #99
• IO refactor 37 by @mhubii in #107
• Mesh origin refactor by @mhubii in #106

Remove ROS from core

• Remove ROS package registry from CLI 110 by @mhubii in #115
• Remove ROS from Docker by @mhubii in #116
• Remove ROS dependency in Robot constructor by @mhubii in #108

New contributors

• @aymuos15 made their first contribution in #88
• @Copilot made their first contribution in #102

Full Changelog: 0.4.6...0.5.0

v0.4.6

Fixes the PyPI release version duplicate (manual delete of 0.4.5 from PyPI), associated with issue #87

v0.4.5

• Improved DR robustness via MSE loss and distance transform (#73 @mhubii)
• Remove SAM 1 (#63 @mhubii)
• Automated wheel deployments (#64 @Haydnspass)
• CI run unit tests (#65 @Haydnspass, tests need to be fixed moving forward)

Note: This release was used for "Hydra: Marker-Free RGB-D Hand-Eye Calibration", https://arxiv.org/abs/2504.20584

v0.4.4

• Re-parametrizes the differentiable rendering into the robot base frame #46
• Adds convergence criterion to the camera swarm optimization #51
• Fixes naming issues for DR #52

v0.4.3

• Adds particle swarm optimization for monocular initialization #39
• Fixes output naming and uses pathlib to determine file stem and suffix #40
• Adds monocular differentiable rendering cli #42
• Improves robustness of differentiable rendering cli #36
• Adds Hydra ICP from depth #38

v0.4.2

• Removes faiss dependency #31
• Adds window name for detector #32
• Adds mesh decimation #33
• Fixes potentially non-existent link #34

v0.4.1

Minor release for fixes:

• Updates install instructions
• Adds pip installation support from urls
• Updates Docker image for testing on xarm and LBR-Stack
• Adds point cloud from depth #15
• Fixes kinematics on meshes #23
• Fixes optical frame convention #24
• Fixes scene #26
• Adds default and visual links #29
• Handle DAE files #30

v0.4.0

Refers to #20. Removes Open3D dependency.

• Uses pyvista for plotting intead
• Uses nvdiffrast rendering over open3d rendering
• Uses pytorch_kinematics over kinpy

v0.3.1

• Updates the default configurations to rolling changes in LBR-Stack, refer lbr-stack/lbr_fri_ros2_stack#213.
  • Links are now prefixed with <robot_name>_link_i.
• Adds nvcc to conda environment

v0.3.0

New

• Differentiable rendering using nvdiffrast and pytorch-kinematics
• SAM 2
• cli with new GPU-based rendering

Shortcomings

• Contains legacy code
• Tests not automatic