cpd

What's Changed

• Update googletest to v1.14.0 by @gadomski in https://github.com/gadomski/cpd/pull/166
• a few small cmake cleanups to use CONFIG for FGT and Eigen by @hobu in https://github.com/gadomski/cpd/pull/167

Full Changelog: https://github.com/gadomski/cpd/compare/v0.5.4...v0.5.5

What's Changed

• Fixups for GHA security policy update by @hobu in https://github.com/gadomski/cpd/pull/150
• Bump c++ std by @gadomski in https://github.com/gadomski/cpd/pull/160

New Contributors

• @hobu made their first contribution in https://github.com/gadomski/cpd/pull/150

Full Changelog: https://github.com/gadomski/cpd/compare/v0.5.3...v0.5.4

What's Changed

• Add cmath include to use M_PI by @gadomski in https://github.com/gadomski/cpd/pull/119
• use math defines and include cmath by @marcopus in https://github.com/gadomski/cpd/pull/126
• Add the ability to use callbacks. by @DVigneault in https://github.com/gadomski/cpd/pull/131
• Add static/dynamic logic to jsoncpp cmake by @gadomski in https://github.com/gadomski/cpd/pull/134
• Fix correspondences by @gadomski in https://github.com/gadomski/cpd/pull/137
• Make sure we return something. by @abellgithub in https://github.com/gadomski/cpd/pull/143
• Update README by @gadomski in https://github.com/gadomski/cpd/pull/147

New Contributors

• @marcopus made their first contribution in https://github.com/gadomski/cpd/pull/126
• @DVigneault made their first contribution in https://github.com/gadomski/cpd/pull/131
• @abellgithub made their first contribution in https://github.com/gadomski/cpd/pull/143

Full Changelog: https://github.com/gadomski/cpd/compare/v0.5.1...v0.5.2

Switch from Travis CI to Github actions.

• [FIXED] Documentation builds on Travis.
• [FIXED] Setting the GaussTransform on a Transformation.
• [FIXED] Bug in the normalization test (#107).
• [ADDED] Test for scaling in rigid transformations.
• [ADDED] Better error message when allocation fails when creating an affinity matrix (#104).
• [ADDED] A new example, random, that can be used to test large allocations.
• [ADDED] An example to demonstrate setting the transform to fgt.
• [ADDED] "Unlinked" normalization, where the two datasets can be scaled differently (#112).
• [ADDED] A matrix method for both rigid and affine results. This matrix contains the entire transformation. Also added an example that calculates and applies a transformation matrix (#108).
• [ENHANCED] The rigid example.
• [ENHANCED] CMake configuration for jsoncpp builds (#105).
• [ENHANCED] Documentation.

There were enough wires to rip up that I'm mashing all of these changes
into one big changeset for the v0.5 update.

The big changes include:

• Remove the Runner, move all the common iterative logic to a
  templated Transform virtual base class, from which Rigid and
  friends derive.
• Remove vendored upstream dependencies (other than gtest). Managing
  vendored dependencies was a big pain. Instead, I'm trying out
  "components", e.g. the jsoncpp functionality is included as a
  component that requires an external jsoncpp to be present. We'll see
  how that goes.
• Remove all logging, for now. I might add it back (via the component
  mechanism mentioned above) but I'm not sure. While it's useful for
  keeping tabs, it mucks up the business part of the code a lot. I have
  a vauge idea about adding callbacks into the main cpd loop and using
  those for logging, but nothing's there yet.
• Refactored tests and fixtures, to hopefully make it easier to
  modify/etc in the future. This rewrite mostly happened becuase I
  couldn't bring myself to rip apart the v0.4 test suite without just
  redoing it all.

Note that a lot of the business code in this rewrite was not touched —
this is more of an interface change than anything that affects the
actual math.

• [FIXED] Bug in rigid result's points.
• [FIXED] Whitespace in .travis.yml.
• [ADDED] The affine transformation.
• [ADDED] Documentation.
• [ADDED] Seperate script to build/install doxygen on Travis.
• [CHANGED] Rename affinity_matrix files to affinity.
• [CHANGED] Refactor test fixtures.
• [CHANGED] Use googletests's targets, but don't install googletest files.
• [CHANGED] Fgt is now an optional dependency, that defaults to ON if fgt is present.
• [CHANGED] If a doxygen executable is present, default to WITH_DOCS=ON.
• [CHANGED] Move Doxygen.in to a docs/ directory.

• [FIXED] Denormalization bug for rigid transformations
• [ADDED] Runtime (in microseconds) to results
• [ADDED] More information to logging
• [ADDED] Example of using PDAL and artificial translation

• [FIXED] Normalization for non-unit-cube point sets.
• [FIXED] Documentation builds on Travis.
• [FIXED] Include syntax in normalize.hpp.
• [FIXED] MSVC warnings.
• [FIXED] Datatype of Runner.m_max_iterations.
• [FIXED] Bad AppVeyor link in README.
• [ADDED] Allow various Fgt strategies.
• [ADDED] CMake policy CMP0054.
• [ADDED] sigma2 test for identical points.
• [ADDED] Better sigma2 logging.
• [ADDED] Helheim Glacier test data file.
• [CHANGED] Refactored top-level registration functions to use a more general uplevel upstream function.
• [CHANGED] ProbabilityComputer to Comparer.
• [CHANGED] Explicitly build static libs in AppVeyor.
• [CHANGED] Default to static libs in MSVC.
• [CHANGED] Precision on sigma2 reporting.

Another complete rewrite. This new version includes logging and much better tests, as well as a hopefully better API.

• [ADDED] Interface to control how fgt behaves, particularily when we use IFGT and when we use direct+tree.
• [ADDED] Windoze support (#23)
• [CHANGED] Test against fgt master (instead of a fixed version) on Travis.

v0.3.2

• [ADDED] Affine transformation
• [ADDED] Version API
• [ADDED] all.hpp, which includes all registration types
• [ADDED] Documentation for each file and namespace
• [CHANGED] Normalize points before running CPD (points are denormalized after run)
• [FIXED] constexpr static for all double consts
• [ADDED] Small documentation changes

This is just a tiny release to fix the CMake configuration.

• [FIXED] Find fgt in CMake config script. Downstream usage was broken w/o.
• [CHANGED] Update Travis's fgt version to v0.4.2

A complete rewrite of the library. Includes:

• Eigin instead of Armadillo.
• (hopefully) A cleaner API.
• Templates as well as inheritance to remove returned pointers in API signatures.
• Reduced functionality, for now (no nonrigid_lowrank or affine).

Version v0.2.2 provides a fix for rpath settings that broke executable installation when installing with a non-system CMAKE_INSTALL_PREFIX. Since Ubuntu doesn't search /usr/local/lib for shared libraries by default, our default installation on Ubuntu was broken. This version also incorporates a few other non-library improvements, including the addition of a Vagrantfile for easy Ubuntu setup on unfriendly hosts (here's looking at you, Windoze users) and consolation of some of our basic workflows down to simple makefiles.

Adds a new option to remove dependency on the armadillo wrapper library and fixes the gflags integration; a few other minor fixes as well.

• [FIXED] gflags integration
• [FIXED] minor documentation fixes
• [CHANGED] armadillo version used on Travis
• [ADDED] USE_ARMA_WRAPPER option to (optionally) remove armadillo library dependency
• [ADDED] minimum armadillo version

cpd v0.2.0 includes some new features and a decent amount of reorganization.
Very little has changed in the inner working of the algorithms, however.
For a complete list of changes, please see CHANGES.md or git log v0.1.1..v0.2.0.
Here's a summary of the more significant changes:

• Bump the required CMake version up to 2.8.12
• Add cmake configuration scripts to allow easy(er) downstream project integration — see example/ in the main source tree for a demo integration.
• Registration::operator() was renamed to Registration::run
• Defaults were changed from UPPER_CASE to CamelCase
• SpResult was renamed to ResultPtr
• The Normalization and Result structs were moved into the Registration class
• The sigma2 parameter can be tweaked a bit more to improve performance and accuracy

As always, please use https://github.com/gadomski/cpd/issues to let us know of any problems or issues with this release.

This is a patch release to the v0.1 branch.

• [FIXED] Critical bug in rigid registration
• [ADDED] Automatic library versioning via git-describe
• [ADDED] version.cpp for inspecting the current git version in code

The initial release of cpd.