v0.106.0

New features

• Step 1 (lidar odometry)
  • Moved from GLUT to raylib. The old version is still available as lidar_odometry_step_1_legacy (#576).
  • Dropping a data folder on the window starts processing. A "Loading data" window shows while data opens (#576).
  • Closing the window during a run now asks "Quit anyway?" and shuts down safely (#576).
  • Map buckets can be shaded by intensity (#576).
  • About 1.7x faster, with identical results (#570).
  • Long recordings use much less memory. Raw scans are loaded only when needed, and the map buffer can live on disk with [performance] points_global_spill_directory (#555).
  • New IMU-only preset. The pipeline accepts colors in LAZ files (#569).
• Raw data viewer
  • Moved from GLUT to raylib. The old version is still available as mandeye_raw_data_viewer_legacy. Folders and files can be dropped on the window to load them (#576).
• Step 2 (multi-view TLS registration)
  • Can export without the GUI using --export <dir>, with optional --same-as-gui decimation (#559).
• Step 3 (multi-session registration)
  • Ground truth can be loaded from LAZ, and trajectories can be saved as TUM (#567).
  • Ctrl+middle or Ctrl+right click moves the rotation center to the closest trajectory point. Ctrl+G moves it to the gizmo (#557).
• Camera Lidar Trajectory viewer
  • Records flyover videos (#572).
  • Loads exactly the chosen .mjs file instead of every file in its folder. Before this, a folder holding two sessions loaded the wrong poses.
• Sessions
  • Session files store paths relative to the session file, so a session keeps working after it is moved or copied. Old sessions with absolute paths still load (#581).
• New tools
  • session_to_session_rigid_registration and session_uncertainty_calculation compute metrics and uncertainty against a ground-truth session (#562).

Fixes

• Pose interpolation no longer reads past the end of the trajectory (#577).
• When updated poses are missing or empty, the initial poses are used instead (#565).
• In command-line mode, step 1 removes its cache after saving the session (#566, fixes #489). A script finds orphaned caches.
• Step 3 no longer re-uploads GPU buffers while you drag a session's gizmo (#553).
• Fixed a clash between raylib and windows.h (#576), and the Windows build.

Build and packaging

• camera_lidar_trajectory_viewer is always built (#578).
• Build information is generated when CMake configures the project, and the version comes from project() (#556).
• Removed /fp:fast (#563).
• Added X11 libraries that the Ubuntu build was missing (#561).
• raylib_widgets is now covered by the clang-format scripts (#580).

Contributors

Special thanks to everyone who contributed to this release: @capCafu, @mwlasiuk, @JanuszBedkowski, @adamdbrw and @michalpelka. 🙏