v2.4.0

2.4.0 (2026-08-25)

Features

• add array protocol to Image and Kernel, ndim to Kernel (e762f57)
• relax opencv pin to support both 4.x and 5.x, add CI matrix axis (2ec69fe), closes #44

Bug Fixes

• assert hygiene -- unreachable assert, two caller-facing checks (7afe33e)
• CameraBase.plot() unbound call (self=None) crashed instead of working (e2d4600)
• catch cv2.error in points2F(), not just F/mask=None (c4197cb)
• correct stale open3d-python PyPI name, add py3.13 exclusion marker (87c1e8f)
• esttheta() -- broken pickregion() helper and missing theta-sweep body (50b00cc)
• exclude tests/ from Bandit's assert_used (B101) check (e62b116)
• Histogram.plot(type='ncdf') never actually worked, docstring lied (6d4152d)
• idisp() crashes when reuse=True with no title given (a05b13b)
• Image.metadata() missing camera-specific Exif sub-IFD tags (d554ef2)
• Image() drops maxintval when dtype= is also given, silently truncating (15f1d32)
• Image(dtype='float') resolved to float64, not float32 (18c5d85)
• ImageConstantsMixin factories silently downcast explicit dtype requests (977dbf6)
• mvtbtool's %precision line spuriously echoes with --showassign (ed43ca6)
• name2color() colororder reordering returns list, not ndarray (c90e6fb)
• PointCloud.Read() double-joins a caller-supplied "data/" prefix (fff671c)
• printstats() crashes if .stats hasn't been accessed yet (3484224)
• suppress divide-by-zero RuntimeWarning in BagOfWords idf computation (05c85e0)
• visual-odometry robustness -- match() metric, points2F(), BundleAdjust (8691847)

Documentation

• add AGENTS.md stub linking to rvc-ecosystem conventions (0827291)
• points2F() kwargs -- correct which params apply to which method (6b10d64)