v1.3.0

[1.3.0] - 2026-04-29

Added

• Three new Lie group manifolds in apex-manifolds (v0.2.0):
  • SE_2(3) — extended pose with velocity for IMU preintegration (9 DOF)
  • SGal(3) — special Galilean group for time-coupled inertial navigation (10 DOF)
  • Sim(3) — similarity transforms with scale for monocular SLAM (7 DOF)
• FThetaCamera in apex-camera-models (v0.2.0) — NVIDIA DriveWorks f-theta fisheye
  model for 220° FOV surround-view cameras
• jacobian_pose on CameraModel trait — analytic ∂(u,v)/∂ξ for all 10 camera models
• Comprehensive unit test suite across all workspace crates:
  • apex-manifolds: identity, compose, inverse, round-trip exp/log, numerical Jacobian
    verification for all 8 manifolds
  • apex-camera-models: projection/unprojection round-trip, Jacobian verification,
    parameter validation, batch projection consistency for all 10 models
  • apex-solver: extended integration tests and factor Jacobian checks

Changed

• SO(3) quaternion convention aligned to w-first (Hamilton) [qw, qx, qy, qz] —
  previously inconsistent between construction and serialization paths
• TryFrom<&[f64]> replaces From<&[f64]> for all camera model structs — construction
  is now fallible with structured CameraModelError
• Sub-crate versions bumped: apex-manifolds 0.2.0, apex-camera-models 0.2.0
• Workspace Cargo.toml dependencies updated to new sub-crate versions

Fixed

• SE(3) Q-matrix sign error in right_minus Jacobian block
• SO(3) Jacobian inverse numerical stability near θ = 0 and θ = π
• Sim(3) Jacobian and V-matrix computations near degenerate scale values
• SGal(3) tangent space adjoint representation