What's Changed

• API changed to be much simpler for optimization with Sparse Jacobian!
• Add argument sjac for pp.Parameter @zitongzhan in #392
• Remove unnecessary TrackingTensor by @zitongzhan in #390
• Add comprehensive doc by @zitongzhan in #391

Full Changelog: v0.9.0...v0.9.5

What's Changed

• Bundle Adjustment in the eager mode by @zitongzhan in #378
• Accelerate BA by more than 100 times compare to the last version, more than 20 times than GTSAM!

Full Changelog: v0.7.5...v0.9.0

What's Changed

• Update setup.py for description by @wang-chen in #384
• update installation command for editable mode and include python 3.12 - 3.14 by @wang-chen in #385

Full Changelog: v0.7.4...v0.7.5

What's Changed

• Raise explicit exception on optimizing w/ inference_mode. by @MarkChenYutian in #382
• Better type annotation for LieType.Mul method. by @MarkChenYutian in #383

Full Changelog: v0.7.3...v0.7.4

What's Changed

• fix bugs in pytest (metric and lqr) by @rokeeeto-li in #372
• Fixed mpc example bugs based on pr 369. Thanks @andreaostuni by @rokeeeto-li in #373
• update EKF example by @haleqiu in #363

Full Changelog: v0.7.2...v0.7.3

What's Changed

• fix operations (Act, Adj, AdjT, Jinvp) for empty tensors. by @wang-chen in #362
• update format of string in doc by @wang-chen in #365
• GeodesicLoss by @wang-chen in #366
• Improve typing annotation for LieTensor and LieType. by @MarkChenYutian in #367
• Use shorter typing names for lietensor.py by @wang-chen in #368
• ignore test files in the test folder by @wang-chen in #370

Full Changelog: v0.7.1...v0.7.2

What's Changed

• Fix internal error when both reset and prop_cov are set to False in IMUPreintegrator by @luyr in #281
• fix sometimes failed in ekf_test by @wang-chen in #358
• [CG solver] assert x does not contain nan by @hxu296 in #313
• fix possible test fail for UKF pf by @wang-chen in #359
• Evaluations for the trajectory including APE and RPE by @Chensiyu00 in #316
• fix downsample device bug by @wang-chen in #361

New Contributors

• @luyr made their first contribution in #281
• @Chensiyu00 made their first contribution in #316

Full Changelog: v0.7.0...v0.7.1

Add various point cloud filters

• add random_filter and voxel_filter by @YuqingLi-hub in #334
• add nbr_filter by @Murphy41 in #315
• add knn_filter by @wang-chen in #357

New Contributors

• @YuqingLi-hub made their first contribution in #334
• @Murphy41 made their first contribution in #315

Full Changelog: v0.6.9...v0.7.0

What's Changed

• fix cuda device failure in tests by @zitongzhan in #350
• add quat2unit by @wang-chen in #353

Full Changelog: v0.6.8...v0.6.9

What's Changed

• fix cumops where left arg is right. by @wang-chen in #339
• relax pytest >=7.* by @wang-chen and @Xanthorapedia in #343

Full Changelog: v0.6.7...v0.6.8