Release v19.6.0 · NVIDIA/ncore

Model construction moves from closed dispatch tables to open, module-level factories. Each of the camera, lidar and external distortion hierarchies gains a free <kind>_model_from_parameters() that dispatches on the parameter type, together with a register_<kind>_model hook so models defined outside NCore can participate. These replace the from_parameters / maybe_from_parameters static methods, which held an if/elif table over every concrete subclass, had to be edited to add a model, could not build an out-of-tree model, and were inherited by every subclass. The static methods remain as deprecated forwarders.
The three model base classes are now generic in their parameter type and declare get_parameters(), so a CameraModel, LidarModel or ExternalDistortionModel stays useful without narrowing to a concrete model first. The parameter type is covariant; plain
unparameterized annotations and isinstance checks are unaffected.
The abstract parameter bases carry the JSON (de)serialization interface, so parameters can be serialized through the abstract type. ExternalDistortionParameters is new: that hierarchy previously had an abstract model base but no abstract parameters base at all.
CameraModelParameters.transform returns Self consistently across the hierarchy. Two concrete overrides previously returned their own class with an unannotated self, which made them non-substitutable and collapsed the return type to the declaring class for generic callers.

v19.6.0 - 2026-09-09

(sensors) add free external_distortion_model_from_parameters factory with open registry - (e0ac9ed) - Janick Martinez Esturo
(sensors) add free lidar_model_from_parameters factory with open registry - (b2afc10) - Janick Martinez Esturo
(sensors) add free camera_model_from_parameters factory with open registry - (3e0f6b2) - Janick Martinez Esturo

(data) search and compare closest_index_sorted exactly - (45602dc) - Janick Martinez Esturo
(sensors) floor the angles-to-columns map index in integer arithmetic - (59c698d) - Janick Martinez Esturo

(data) return Self from every CameraModelParameters.transform override - (f2bfbba) - Janick Martinez Esturo
(data) declare serialization interface on CameraModelParameters base - (1b0dc1d) - Janick Martinez Esturo
(data) pin relative_angle to the angles' float dtype - (7cf76e5) - Janick Martinez Esturo