v2.2.7

• implemented umeyama functions
• made general math functions lower case. Solves problems with defines from other libraries shadowing the function names
• added comments

v2.2.6

v2.2.6

• SVD implementation based on "Numerical Recipes" that works out of the box on CPU as well as in CUDA kernels. First test results show speed up and accuracy over Eigen/cusolver. Need to conduct further experiments. Perhaps directly with RMCL.
• added convenience functions to sensor models and embree simulators.
• Added rmagine-ouster component
  • Dependency: jsoncpp
  • Loading Ouster Meta files as rmagine sensor model

Additional things

• removed obsolote functions.
• made types polyscope compatible

v2.2.5

Patch:

• closest point function: bug fixes, thread safe, const

v2.2.4

Patch:

• Embree: moved closestPoint logic to scene
• add convenience function to access map and model from simulator

v2.2.3

Patch: OptiX 8 support

v2.2.2

• const simulation calls
• package.xml -> tested with ROS-noetic
• cleanup cmake install scripts

v2.2.1

Patch:

• CMake find script fix for CPU only machines

v2.2.0

Rework of build and install system.

Major changes:

• Components for each part of the library: rmagine::core, rmagine::embree, rmagine::cuda, rmagine::optix
• Debian package generation with CPack
• Removed Embree 3 support

Note: Attached binaries are compiled with Ubuntu 20.04, Embree 4.2.0, Cuda 11.4, Nvidia-driver 470.199.02, OptiX 7.3.0.

v2.1.1

Patch:

Preparations to fully implement new feature: Integrate CUDA unified memory.

• Implemented respective Memory object UNIFIED_CUDA including alloc, free, copy, stream copy functions
• OptiX simulators can now additionally simulate to unified memory. Mixing memory is possible as well.

TODOs missing to next minor version change: Add UNIFIED_CUDA into Embree Simulators without breaking compatibility for CPU only devices

v2.1.0

No Interface Changes

Major Changes:

• Rmagine version is now exported as cmake variables and defines for better versioning of other libraries that use Rmagine
  • cmake vars: rmagine_VERSION, rmagine_VERSION_MAJOR, rmagine_VERSION_MINOR, rmagine_VERSION_PATCH
  • definitions: RMAGINE_VERSION, RMAGINE_VERSION_MAJOR, RMAGINE_VERSION_MINOR, RMAGINE_VERSION_PATCH
• rmagine_DEFINITIONS is now exported via cmake and can be accessed in libraries that are using Rmagine

Minor Changes:

• Embree 4 support, the embree version is exported to be used in other libraries if needed: RMAGINE_EMBREE_VERSION_MAJOR
• README rework. Smaller images. Short example. Some links to the Wiki