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NEWS on IncrementalInference.jl Releases

Currently general maintenance and bug fix changes are mostly tracked via Github Integrations. E.g. see Milestones along with Label filters to quickly find specific issues.

Also see automated TagBot Release note, e.g.:

Alternatively, either use the Github Blame, or the Github /compare/v0.18.0...v0.19.0 API, e.g.:

The list below highlights breaking changes according to normal semver workflow -- i.e. breaking changes go through at least one deprecatation (via warnings) on the dominant number in the version number. E.g. v0.18 -> v0.19 (warnings) -> v0.20 (breaking). Note that ongoing efforts are made to properly deprecate old code/APIs

Changes in v0.35

  • Standardize toward Manopt.jl (currently Riemannian Levenberg-Marquart), still have Optim.jl legacy support (#1784, #1778).
  • Much faster solves, both parametric and nonparametric (#1783, #1782, #1793).
  • Better standardize relative factors to use of tangent vectors (#1790).
  • Now abstract type CalcFactor with dedicated dispatches in various cases, e.g. CalcFactorNormSq, etc. (#1786).
  • Bug fixes and inference improvements (#1781, #1785, #1789)
  • Support for Julia 1.10.
  • Extension usage of AMD.jl for ccolamd variable ordering features, dropped internal SuiteSparse calls. JL 1.10 removal of SuiteSparse_long (#1763).
  • Further bug fixes for transition to StaticArrays value stores and computes, including Position{N} (#1779, #1776).
  • Restore DifferentialEquation.jl factor DERelative functionality and tests that were suppressed in a previous upgrade (#1774, #1777).
  • Restore previously suppressed tests (#1781, #1721, #1780)
  • Improve DERelative factor on-manifold operations (#1775, #1802, #1803).
  • Fixed a typo via deprecation, solveFactorParametric replaces solveFactorParameteric.

Changes in v0.34

  • Start transition to Manopt.jl via Riemannian Levenberg-Marquart.
  • Deprecate AbstractRelativeRoots.
  • Standardization improvements surrounding weakdeps code extensions.
  • Code quality improvements along wiht refactoring and reorganizing of file names and locations.
  • Restoring DERelative factors, through v0.34.1 and v0.34.2.
  • Switching to weakdep AMD.jl for ccolmod dependency, part of Julia 1.10 upgrade. Dropping SuiteSparse_long dependency. Further fixes necessary to restore full user constrained tree variable order functionality.

Changes in v0.33

  • Upgrades for DFG using StructTypes.jl (serialization).

Changes in v0.32

  • Major internal refactoring of CommonConvWrapper to avoid abstract field types, and better standardization; towards cleanup of internal multihypo handling and naming conventions.
  • Internal refactoring removing several legacy fields from CalcFactor.
  • All factors now require a getManifold definition.
  • Now have CalcFactor.manifold to reduce new allocation load inside hot-loop for solving.
  • Fixed tesing issues in testSpecialEuclidean2Mani.jl.
  • Refactored, consolidated, and added more in-place operations in surrounding ccw.measurement.
  • Refactor CommonConvWrapper to a not non-mutable struct, with several cleanups and some updated compat requirements.
  • Refactor interal hard type HypoRecipe.
  • Add MetaPrior for adding meta data but not influencing the numerical solution.

Changes in v0.31

  • FactorMetaData is deprecated and replaced by CalcFactor.
  • Updated Base.deepcopy_internal fix for use with Julia 1.8.1, see #1629.
  • Added a few missing exports incl. getTags, `_update!, see #1626 #1628.
  • Refactoring to remove FactorMetadata (#1611) and ConvPerThread (#1615, #1625) objects, which is consolidated into CalcFactor and CommonConvWrapper.
  • Added JuliaFormatter, see #1620.
  • Add SnoopPrecompile.jl on a few basic solve features to start, see #1631.
  • Support n-ary parametric solving such as OAS factors.

Changes in v0.30

  • ArrayPartition should be used instead of ProductRepr, see issue #1537.
  • Remove old deprecated option keywords in addVariable and addFactor.
  • Improve IIF.solveGraphParametric.
  • Introduce IIF.autoinitParametric!.
  • Upgrade initAll!(dfg, :parametric).
  • Refactor many files to subfolders src/services or src/entities.

Changes in v0.29

  • Upgrade to Manifolds.jl v0.8
  • Deprecate initManual!, instead use initVariable!.

Changes in v0.28

  • HeatmapGridDensity now only supports ManifoldKernelDensity functions.
  • PackedHeatmapGridDensity has an expanded fields to support future stash and cache serialization strategies.
  • Internal parchDistribution functions have been added towards future stashed serialization strategies.
  • Internal _update! function supports updating of the HeatmapGridDensity distribution.
  • Unpacking of PackedManifoldKernelDensity is more versatile with improved .partial and .bw options.
  • Bugfix on multihypo= which now includes nullSurplus on sibling relative factors to a variable with a multihypo factor, #1518.

Changes in v0.27

  • InMemDFGType is deprecated in favor of LocalDFG (exported from DistributedFactorGraphs).
  • Factor serialization is now top level JSON only #1476.
  • Serialization of distributions are now JSON only #1468, #1472, #1473 (removed custom string legacy).
  • Fix chicken and egg problem on unpackFactor, change convert to reconstFactorData, #1424.
  • Add factor preambleCache(dfg, vecVars, usrfnc), #1462, #1466. Doesn't work for parametric yet (#1480).
  • Add CalcFactor.cache using preamble, #1481. Not thread safe yet.
  • Standardize local graph naming to LocalDFG, #1479.
  • Refactor getDimension and sampling, #1463.
  • Language upgrades on qr for Julia 1.7, #1464.
  • Various other fixes and upgrades, https://github.com/JuliaRobotics/IncrementalInference.jl/milestone/111?closed=1
  • Add distribution serialization for Rayleigh.
  • Add Position{N} and Position1..Position4 as new standard and aliases for ContinuousScalar, ContinuousEuclid{N}.

Changes in v0.26

  • Standarding (non-binding) easy factor dipatch cases so measurement field is under .Z (#1441).
  • CalcFactor._allowThreads can now be used as workaround for Threads yield blocking issue during first run (#1451).
  • Canonical graph generator API change to generateGraph_ABC (#1454).

Changes in v0.25

  • Changed API to testFactorResidualBinary(fct, meas::Tuple, (T_i, param_i),...) to grow beyond binary.
  • PPE methods used keyword method::AbstractPointParametricType which is now replaced with the keyword ppeType.
  • Belief points are now stored as a Vector{P} (rather than legacy Matrix), and currently still under the restriction P <: AbstractVector{<:Real}. Objective is moving to P any user desired point that fits with the JuliaManifolds/Manifolds.jl patterns.
  • Deprecating use of ensureAllInitialized!, use initAll! instead.
  • Upstream calcHelix_T canonical generator utility from RoME.jl.
  • Deserialization of factors with DFG needs new API and change of solverData and CCW type in factor.
  • Deprecate use of getParametricMeasurement and use getMeasurementParametric instead, and add <:AbstractManifold to API.
  • Deprecate use of solveBinaryFactorParameteric, instead use solveFactorParametric.
  • Deprecating approxConvBinary, use approxConvBelief instead.
  • Removing obsolete approxConvCircular, use approxConvBelief instead.
  • getSample should return a single sample and no longer takes the N(number of samples) parameter.
  • solveTree! / solveGraph! now returns just one value tree<:AbstractBayesTree. Previous version returned three values, tree, smt, hist (#1379).
  • Note for v0.25.5 Serialization of newly introduced type PackedHeatmapGridDensity changed from v0.25.4, unlikely have yet been used publically, therefore emphasizing fastest possible standardization in this case (even though this particular event does not strictly follow semver). General usage and operation is effectively unchanged,see #1435.

Changes in v0.24

  • Update compat for ManifoldsBase.jl v0.11 with AbstractManifold.
  • Transition to only getManifold (instead of getManifolds), thereby moving towards exclusively using Manifolds.jl, see #1234.
  • Deprecate use of getFactorMean, use IIF.getParametricMeasurement instead.
  • Upstreamed is/set Marginalized to DFG (#1269).

Changes in v0.23

  • New @defVariable only uses ManifoldsBase.Manifold as base abstraction for variable types.

Changes in v0.22

  • Work in progress toward ManifoldsBase.Manifold as base abstraction for variable types.

Changes in v0.21

  • CalcResidual no longer takes a residual as input parameter and should return residual, see #467 .

Changes in v0.20

  • The user factor API call strategy has been simplified via CalcResidual, see #467 for details.
  • User factor API for getSample and .specialsampler has been standardized via CalcResidual (#927) -- for ongoing work please follow #1099 and #1094 and #1069.