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NCore Changelog

All notable changes to the NCore project will be documented in this file.

The format is based on Keep a Changelog.

v18.8.0 - 2026-03-31

Highlights

  • Added compute_max_angle computation API for OpenCV fisheye camera model, which can be used to determine the default valid field of view for projection and visualization
  • Added support to convert Scannet++ datasets to NCore via colmap converter
  • Correctly interpolate cuboid tracks for camera overlays in ncore_vis
  • Fix PAI conversion to validate presence of required offline features and update to default HuggingFace dataset revision 'main'
  • Extend itar documentation on performance and cloud storage access

➕ Added

  • (colmap) add OPENCV_FISHEYE support, configurable paths, and scannetpp-v4 subcommand - (6c5beee) - Janick Martinez Esturo
  • (colmap) support per-image masks in colmap converter - (7e05282) - Janick Martinez Esturo
  • (colmap) Include downsampled sensors by default - (ca411b9) - Janick Martinez Esturo
  • (ncore_vis) Interpolate cuboid tracks to camera mid-frame timestamp - (afae717) - Janick Martinez Esturo
  • (opencv-fisheye) compute_max_angle for OpenCVFisheyeCameraModel - (ac30d7a) - Janick Martinez Esturo

🪲 Fixed

  • (PAI-conversion) Validate presence of required offline features - (397cbc6) - Janick Martinez Esturo
  • (camera_test) Fix ruff E402 import not at top of file - (68650e1) - Janick Martinez Esturo
  • (colmap) use se3_inverse and correct transformation names - (0a26d69) - Janick Martinez Esturo
  • (colmap) pass image_path to pycolmap SceneManager to suppress warning - (9b8935b) - Janick Martinez Esturo
  • (colmap) Use flags for boolean options in converter - (25730d9) - Janick Martinez Esturo
  • (deps) bump cbor2 >= 5.9.0 for Python 3.9+ to address CWE-674 / CVE-2026-26209 - (ff30199) - Janick Martinez Esturo
  • (ncore_vis) Fix cuboid overlay projection and eager track initialization - (4c3d50f) - Janick Martinez Esturo
  • (ncore_vis) Use frame_idx consistently - (f9a3a14) - Janick Martinez Esturo
  • (ncore_vis) Replace se3_inverse with get_frames_T_source_sensor in lidar projection - (b953857) - Janick Martinez Esturo
  • (ncore_vis) Use per-cuboid observation timestamps for projection and rendering - (9de4d6c) - Janick Martinez Esturo
  • (pai) Update to default HF revision 'main', update caching - (f040823) - Janick Martinez Esturo
  • (pycolmap) patch Python 3 map() compatibility in text format parsers - (2d36b2a) - Janick Martinez Esturo
  • (ty) Fix type error in context manager exit method - (d07839e) - Janick Martinez Esturo

📚 Documentation

  • (colmap) document storate of rgb point colors in generic lidar frame data - (06f904e) - Janick Martinez Esturo
  • add itar read performance benchmark to storage documentation - (9c5d194) - Janick Martinez Esturo
  • split formats.rst into data formats and storage/access pages, add cloud storage - (42a4420) - Janick Martinez Esturo

v18.7.0 - 2026-03-17

Highlights

  • Added timestamp interval filtering and caching to cuboid tracks compat API to accelerate local or repeated lookups (mostly intended to accelerate older non-OSS NCore data-format versions like V3)

➕ Added

  • add timestamp_interval_us filtering to get_cuboid_track_observations() - (9832a44) - Janick Martinez Esturo

🪲 Fixed

  • (colmap) Don't include downsampled images by default - (27856f8) - Janick Martinez Esturo

📚 Documentation

  • (conventions) Refine specs of coordinate systems and transformations - (84e13df) - Janick Martinez Esturo
  • (lidar-model) Document that per-row azimuth offsets are optional / can be zero if applicable - (a76bccb) - Janick Martinez Esturo

⚙️ CI

  • Prevent execution of non-build/test jobs in forks - (007b0db) - Janick Martinez Esturo

v18.6.0 - 2026-03-12

Highlights

  • New data converters for physical AI and colmap datasets, and made various improvements to existing tools and documentation.
  • Improve waymo converter performance by optimizing lidar processing, resulting in ~23x speedup.
  • Added ncore_vis, a viser-based tool for visualizing NCore datasets.
  • Performance improvements of the camera / lidar sensor models by skipping updates for hidden sensors and reducing redundant allocations and kernel launches.

➕ Added

  • (ncore_vis) Allow metadata to color lidar points - (242f0bb) - Michael Shelley
  • (ncore_vis) Add up direction dropdown - (0cdbb5b) - Michael Shelley
  • (ncore_vis) Add ncore_vis, a viser-based tool for visualizing NCore datasets - (52a2fe4) - Janick Martinez Esturo
  • (viser) cache CameraModel instances, add device selector - (3be074a) - Janick Martinez Esturo
  • Add bazel binary for downloading clips for PAI - (8eaae76) - Michael Shelley
  • Add physical AI to ncore v4 converter - (43bec06) - Michael Shelley
  • Add colmap to ncore converter - (6a19ab4) - Michael Shelley

🪲 Fixed

  • (basedataconverter) don't use paths in generic logic / switch to string IDs - (3230ce9) - Janick Martinez Esturo
  • (ci) Also free up disk space for wheel deployment - (3628c2f) - Janick Martinez Esturo
  • (ci) Free up disc space also for export docs - (c909253) - Janick Martinez Esturo
  • (colmap) Final cleanups (code / docs) - (14a172e) - Janick Martinez Esturo
  • (colmap) Prevent division by zero and crash on missing images - (54d729f) - Michael Shelley
  • (docs) Update bazel invocation in docs - (c100474) - Janick Martinez Esturo
  • (ncore_vis) Prevent race conditions when removing nodes in scene - (a1a4ad4) - Michael Shelley
  • (pai) use '--hf-token' consistently - (46a76c2) - Janick Martinez Esturo
  • (pai) Update readme, default dataset revision to 'main', fix copyrights - (7cc4ffc) - Janick Martinez Esturo
  • (pai) Require DracoPy 2.0.0 or higher - (10bd676) - Janick Martinez Esturo
  • (pai) Remove fallbacks, add platform_class to metadata, and close streaming provider - (7f1fe35) - Janick Martinez Esturo
  • (pai) Licenses and static type updates - (7afbc85) - Janick Martinez Esturo
  • (pai) Make sure to clean up temporary directories after conversion - (10a2437) - Janick Martinez Esturo
  • (waymo-converter) add type annotations and enable mypy checking - (44dd7b2) - Janick Martinez Esturo
  • Add early exit on missing frames / minor cleanups - (0bc9282) - Janick Martinez Esturo

⚡ Performance

  • (ncore_vis) skip updates for hidden cameras and lidars - (251a916) - Janick Martinez Esturo
  • (sensors) reduce redundant allocations and kernel launches in sensor models - (625929f) - Janick Martinez Esturo
  • (waymo-converter) optimize lidar processing ~23x speedup - (644dc06) - Zan Gojcic, Cursor

🔄 Changed

  • (colmap) Various improvements / cleanups - (476bd1c) - Janick Martinez Esturo, Copilot, Copilot
  • (data_converter) make --root-dir optional by introducing FileBasedDataConverter - (16acb07) - Janick Martinez Esturo
  • (ncore_vis) Cleanup metadata colorization code, only find valid metadata at init - (62f0257) - Michael Shelley
  • (pai) Add missing copyright, remove toml file - (75916b9) - Michael Shelley
  • (pai) Remove unused code in bazel file - (a0f1039) - Michael Shelley
  • (pai) Rename pai_remote, flatten structure, remove python module - (02e2740) - Michael Shelley
  • (pai) Rename pai conversion commands - (95336a7) - Michael Shelley
  • (tools) remove ncore_visualize_labels and open3d dependency - (6fc43b3) - Janick Martinez Esturo
  • (waymo-converter) separate Waymo-derived and NVIDIA-original code - (c1b4b65) - Janick Martinez Esturo
  • split PAI converter into separate local and streaming variants with distinct config factory - (92a1729) - Janick Martinez Esturo
  • clean up unused code and rename input parameter and add readme - (f5cca96) - Michael Shelley

📚 Documentation

  • (contributing) add conventional commits and linear history guidelines - (1355d88) - Janick Martinez Esturo
  • (converters) Format updates - (da7f5f7) - Janick Martinez Esturo
  • (converters) Updated converter docs to remove code samples; combined pai readmes into one. - (a525e0d) - Michael Shelley
  • (pai) indicate current default HuggingFace dataset revision - (d179209) - Janick Martinez Esturo
  • (pai) Add PAI to NCore docs - (132e538) - Michael Shelley
  • (readme) overhaul README.md for OSS readiness - (d763103) - Janick Martinez Esturo
  • (sphinx) migrate to nvidia_sphinx_theme for NVIDIA corporate branding - (aa9c3bc) - Janick Martinez Esturo
  • (waymo) Update documentation for Waymo conversion tool - (cceee95) - Janick Martinez Esturo
  • comprehensive documentation overhaul - (3eda9b0) - Janick Martinez Esturo
  • fix duplicate data_conversions label in waymo.rst and colmap.rst - (35c02b7) - Janick Martinez Esturo
  • add SECURITY.md per SCM standard (NRE-2883) - (cbd904d) - Jonas Toelke, Claude Opus 4.6 (1M context)
  • Minor readme updates - (1968e10) - Janick Martinez Esturo
  • update CHANGELOG and README for v18.5.0 release - (4a268ed) - Janick Martinez Esturo
  • add CHANGELOG.md following Keep a Changelog format - (2097286) - Janick Martinez Esturo
  • fix typo - (bad48b1) - Janick Martinez Esturo
  • fix copyright year and add SIL Lab link in documentation - (ecc2290) - Janick Martinez Esturo
  • update commit signing requirements from DCO sign-off to GPG signatures - (3fde27a) - Janick Martinez Esturo
  • update contributions on merge commits - (3ded866) - Janick Martinez Esturo

⚙️ CI

  • (bazel) Cache external dependencies - (f97c1d6) - Janick Martinez Esturo
  • (bazel-setup) Remove waymo modules repo cache and set bazelrc - (e2282ba) - Janick Martinez Esturo
  • (pipy) publish to regular PyPI - (a1a18d6) - Janick Martinez Esturo
  • support fork CI by falling back to NVIDIA_PACKAGES_TOKEN for GitHub Packages auth - (75ba65a) - Janick Martinez Esturo
  • add GitHub issue and pull request templates - (5a7c905) - Janick Martinez Esturo
  • patch rules_python for --repo_contents_cache support - (3cd8809) - Janick Martinez Esturo
  • add conventional commits check for pull requests - (eb7bc62) - Janick Martinez Esturo

🏗️ Build

  • (bazel) Update to bazel 8.5.1 - (60811b3) - Janick Martinez Esturo
  • (proto) Update to latest rules_proto - (26972cc) - Janick Martinez Esturo
  • Add cog configuration for conventional commit linting and changelog generation - (4822d29) - Janick Martinez Esturo
  • remove pyside6 dependency (LGPL-licensed) - (8c27d3d) - Janick Martinez Esturo

🎨 Style

  • (waymo-converter) modernize type annotations for Python 3.11 - (c01da20) - Janick Martinez Esturo

🔧 Chore

  • (waymo) update Waymo Open Dataset to version 1.6.1 in MODULE.bazel and related files - (fb04dfa) - Janick Martinez Esturo
  • Clean up Python code for public release - (21751a1) - Janick Martinez Esturo

v18.5.0 - 2026-02-17

➕ Added

  • Initial open-source release
  • V4 component-based data format specification
  • Data reading/writing APIs (ncore.data.v4)
  • Sensor model APIs (ncore.sensors)
  • Data conversion tools for Waymo Open Dataset
  • Data visualization tools
  • Sphinx documentation with tutorials