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v19.4.0

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@janickm janickm released this 16 Jun 10:41
· 1 commit to main since this release
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v19.4.0
1c52e01

v19.4.0 - 2026-06-16

Highlights

  • Rectification: Add first class citizen IdealPinholeCameraModel and associated Rectificator for simple transformation of any supported distorted camera model to rectified ones. The new camera model is integrated into the full sensor stack and visualization tools, and existing OpenCVPinholeCameraModel makes use of a more efficient distortion-free fallback mode if possible. This enables easy rectification of images from cameras lenses with distortion and visualization with corrected geometry in ncore_vis.

Original Frame
image

Rectified with 1.3 * native FOV
image

  • Add support for configurable anchor frames and reference timestamps in MotionCompensator, allowing to specify custom frames of reference and timestamps for more flexible and accurate motion compensation results that are both more general and easier to interpret.
  • Fix various edge cases in nuScenes lidar model estimation, now robustly handling all scenes.

➕ Added

  • (sensors) add Rectificator for distorted-to-rectified image remap - (3b16d3c) - Janick Martinez Esturo
  • (sensors) add ideal pinhole camera model - (9c36528) - Janick Martinez Esturo
  • (tools) add rectification to ncore_vis camera visualization - (7cad764) - Janick Martinez Esturo
  • (tools) add --rectify-resolution to ncore_export_camera - (4f6b447) - Janick Martinez Esturo
  • (tools) add rectification mode to ncore_export_camera - (3931d72) - Janick Martinez Esturo
  • (transformations) configurable anchor frame + self-describing compensation result - (b134328) - Janick Martinez Esturo
  • (transformations) support custom reference timestamp in motion (de)compensation - (131e86a) - Janick Martinez Esturo

🪲 Fixed

  • (evaluate-lidar-model) Downstream inclusing via local / relative imports - (38c9fb4) - Janick Martinez Esturo
  • (itar-store) preserve writer reload contents - (bfef84d) - Minh Vu
  • (nuscenes) make lidar model estimation robust and accurate - (b743c1a) - Janick Martinez Esturo
  • (nuscenes) Update alias name for nuscenes data converter - (9fdf7c7) - Janick Martinez Esturo

🧪 Tests

  • (nuscenes) update camera intrinsics test for ideal pinhole model - (f09d7c0) - Janick Martinez Esturo
Assets 3
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