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Changelog

2.4.1 (2026-10-13)

Bug Fixes

  • BundleAdjust fixed landmarks and pgraph 1.0 Vertex (1467091)
  • BundleAdjust fixed landmarks and pgraph 1.0 Vertex (195e895)
  • docs: install spatialmath and pgraph with deps=False in JupyterLite (201f234)
  • docs: install spatialmath and pgraph with deps=False in JupyterLite (5615b3b)
  • don't pass a positional argument to pgraph.UGraph (f5590e0)
  • don't pass a positional argument to pgraph.UGraph (6fb62e5)
  • estimatePose misaligned ids and corners when other markers are in view (43c5980)
  • FiducialCollection.estimatePose() misaligned ids and corners (#52) (c054867)
  • remove labeltool console script that points at a module that was never committed (#117) (ef39fa9)
  • remove labeltool console script whose module was never committed (30b5c6a)

Documentation

  • add a script and README for the block icons (1185da9)
  • add a script and README for the block icons (2206b53)
  • add Codacy grade badge to README (f91ed2c)
  • add CONTRIBUTING.md (1885fc1)
  • note how to use a phone as a camera in WebCam and VideoCamera (76cea5e)
  • note how to use a phone as a camera in WebCam and VideoCamera (72ca04b)

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)

2.3.0 (2026-08-13)

Highlight: Notebooks working in all environments Fixed a number of problems with getting notebooks to execute in desktop Jupyter, Colab, and JupyterLite in browser. Created nice framework to keep the environment-specific import logic in each notebook consistent at commit time. Added CI tests and also CI check that notebooks runs in the pyodide environment. Currently pinning to pyodide 0.6.1 to sidestep the lack of JSPI support in Safari and Firefox required by later pyodide kernels.

Features

  • ci: add a real-Pyodide dependency-completeness check for JupyterLite (9072da6)
  • notebooks: add shared environment-bootstrap module and drift-check tooling (44242e8)
  • notebooks: migrate all notebooks to the generated bootstrap cell (75f230c)

Bug Fixes

  • ci: guard release-please's PyPI-publish trigger against the truthy-string bug (#74) (0d74276)
  • ci: pass --repo to gh calls in release-please's PyPI-publish trigger (#73) (6ff01a3)
  • docs: pin jupyterlite-pyodide-kernel==0.6.1, matching RTB and bdsim (76bd7e1)
  • notebooks: fix JupyterLite bugs found via real-browser testing (3979404)
  • release-please never triggered the actual PyPI publish (18cc08b)

Documentation

  • readme: move to standard badge layout (0722f9d)

2.2.0 (2026-08-10)

Highlight: OpenCV 5 compatibility. MVTB now works correctly under both OpenCV 4 and the newly-released OpenCV 5 — aruco/fiducial pose estimation, HoughLinesP line features, BRISK/AKAZE point features, and MSER region features have all been fixed for OpenCV 5's API and shape changes, verified against real OpenCV 4.13.0 and 5.0.0 installs. See #44 for the full compatibility audit.

Features

  • add mvtbtool --test smoke test, fix silent Open3D banner skip (6a0bf2c)

Bug Fixes

  • handle HoughLinesP's (N,4) return shape on OpenCV 5 (b54f755)
  • handle MSER's empty-tuple bboxes on OpenCV 5, resolve MSER discrepancy (aabaf88)
  • normalize aruco ids/matchImagePoints shapes for OpenCV 5 (6ac5ec0)
  • replace removed cv2.aruco.estimatePoseSingleMarkers with solvePnP (635225d)
  • resolve BRISK/AKAZE via cv2.xfeatures2d on OpenCV 5 (fad7247)

2.1.0 (2026-08-03)

Features

  • add interactive tools to imtool and bagtool (b16ab7d)
  • mvtbtool: add 'tool' extra for IPython/pygments, fail with clear message when missing (a31655b)

Bug Fixes

  • add missing type annotations, warn on ncdf deprecation (7e8cabe)
  • add socket timeout to iread() URL fetches (6ff62b1)
  • bring 3 mixins in line with the TYPE_CHECKING _ImageBase pattern (0d31fc5)
  • colorplane handling in image i/o (6882967)
  • gridify() IndexError from numpy float // int staying float64 (e57597a)
  • keep single-blob filter() matches (7b0ab8d), closes #17
  • replace 6 bare except: clauses with specific exception types (5a11306)
  • un-hide bot-comment notes from HTML comment block (4a4e943)
  • use eigh instead of eig for blob orientation/ellipse moments (3a74fdf)

Documentation

  • add build date to footer copyright notice (e7de5bf)
  • add example placeholder to Alternatives considered (879f086)
  • add PR and issue templates (d081f7e)
  • ask for a concrete function signature in feature requests (b25cd12)
  • fix docstring convention note, add Codacy heads-up (d68f605)
  • fix Image class sidebar, cut over to sphinx-pyrunblock (20c219d)
  • fix stale rank() reference in card-algorithms.rst (1e3f6bd)
  • fix stale/broken references and add footer build date (c51955b)
  • flesh out PR template with a proper checklist (f4db44b)
  • forewarn contributors about Dependabot vulnerability comments (acfedab)
  • log ci.yml's conda/micromamba setup as tech debt (af09d07)
  • log Codacy backlog real numbers to tech-debt (65b3c5e)
  • log gridify() IndexError bug found while testing bare-except fix (889d45c)
  • log Histogram.plot type= docstring/behavior mismatch (e693eef)
  • log mypy-not-in-CI as high-priority tech debt, with fresh audit (1b74ae8)
  • log pgraph-python CI gap and conda-migration decision to tech-debt (c5b6aeb)
  • log PR #32/#33 Codacy findings (type shadowing, F405, max param) (e0ed8db)
  • migrate tech-debt.md to GitHub Issues (tech-debt label) (36aae6a)
  • remove reference to nonexistent CentralCamera.decomposeF (c7f1400)
  • switch sphinx-codeautolink to released 0.19.0, drop branch pin (594a9a1)
  • use %pip magic in notebooks, add tagline to README (843db36)

2.0.0 May 2026

  • Added

    • image sources
      • ROSBag reads images and point clouds from ROS 1/2 bag files
      • ROSTopic reads images and point clouds from live ROS 1/2 systems via rosbridge
      • ImageSequence: a sequence of image objects
      • PointCloudSequence: a sequence of point cloud objects
      • TensorStack: reads images from a batch tensor
      • LabelMeReader: returns image and shape data from a LabelMe JSON file
    • CLI tools
      • bagtool: animate images or point clouds from a ROS 1/2 bag file
      • ocrtool: write OCR text to stdout or JSON
    • documentation
      • ecosystem diagram
      • new Sphinx sections for ROS, PyTorch, NumPy integration, and Jupyter
      • code copy button for examples (strips >>> prompts)
      • top-level of reST documentation now uses sphinx-design and a card-based TOC

  • Changed

    • CI and packaging
      • changed master branch to main
      • reworked and renamed CI files
      • replaced flake8 with ruff
      • added extras: jupyter, pytorch, ros, ocr
      • added all extra to install all optional extras
      • consolidated documentation and notebooks into docs
    • code quality
      • tested with Python 3.13
      • improved behaviour when Open3D is unavailable
      • many more unit tests, with average coverage now > 50%
      • consistent and PEP-conformant repr() and str() formatting
      • more consistent handling of lazy imports
      • systematic use of import cv2
      • consistent naming of test files
      • PEP 8/257-compliant import grouping and module docstrings
      • revisited suppression comment tags for validity and currency
      • normalized deprecation/warning/docstring language with explicit version tagging
    • image I/O and display
      • iread now uses cv2.imdecode instead of PIL, with internal refactor for corner cases
      • iread_iter is an efficient lazy wildcard iterator
      • idisp now includes keyboard display and animation controls when fps or animate is specified
      • fixed idisp issues with Jupyter Matplotlib backend selection (for example %matplotlib widget)
      • idisp can now put text labels on colorbar ticks
    • Image class and core API
      • image NumPy array for pixel data
        • deprecate .A property, setting .A now raises an exception
        • systematic internal use of ._A for array access
        • .array for user use, provide a read-only view of the pixel data
      • uses _image_typing.py protocol to resolve Image type across mixins
      • improved color order and type logic
      • Image(..., dtype=True) forces image dtype to match the ndarray; otherwise the smallest fitting dtype is selected
      • size option supports turning pixel row/column data into 2D or 3D images
      • Image.Tensor() and img.tensor() for PyTorch import/export
      • statistics improvements:
        • sum, min, max, mean, std, median forward arguments to NumPy (for example axis)
        • img.stats is now a property returning per-plane statistics
        • img.printstats() prints formatted per-plane statistics
        • all are computed lazily
      • thresholding improvements:
        • native NumPy implementations for otsu and triangle threshold estimators
        • threshold_interactive reworked for Jupyter support
      • NaN/Inf handling:
        • img.numnan and img.numinf properties
        • fixbad() for remediation
        • reporting in repr() and str()
      • NumPy ufunc integration (for example np.ceil(img) returns an Image)
      • % operator stacks images plane-wise (for example img1 % img2, img1 % 0)
      • Image.Random()
        • supports multi-channel images
        • now has a pdf arugment to create an image with arbitary pixel-value distribution.
      • img1.sameas(img2) performs scalar equality checks across datatype/planes/pixels (img1 == img2 remains element-wise)
      • image histogram properties h, pdf, cf, cdf are now computed lazily, and each returns a 2-tuple of ndarays (statistic, x). These property names match those of the Histogram class. They were formally called h, cdf, and ncdf and return just a single ndarray.
      • __str__ now includes image statistics like mean, std, median.
      • all "constant constructors" like Zeros, Constant, Random etc. now have a consistent API with keyword arguments size, dtype, colororder, like.
      • Kernel.Gauss and smooth with a half-width but sigma=0 will use a rule-of-thumb to estimate a good sigma value
      • showpixels has a major improvement in visual appearance, some parameters now gone. The animation window has been refactored into showwindow. examples/morphdemo shows this in action.
      • rprint is a variant of print that returns the image object, so img = Image.Random(size=5).rprint() does an assignment to img and displays the pixel values to stdout in one line.
    • Histogram class
      • now has a pdf property for an estimated/empirical probability density function
      • cumulative frequency is renamed from cdf to cf; ncdf renamed to cdf
      • now implemented using NumPy rather than OpenCV for wider dtype support
      • works properly in Jupyter
      • histogram computation moved to constructor
      • clip controls bin range behaviour
      • plotting options for span, log, cursor, and stats markers
    • Blobs class
      • major internal refactor; Blob is now a dataclass
      • improved handling of runt (single-pixel) blobs
      • added id method
      • new attributes/methods: MER()/plot_MER(), MEC()/plot_MEC()
      • added default color and linestyle to all plot functions. These all accept Matplotlib format string or keyword arguments for line styling
    • Image sources
      • all sources are iterators and context managers, reworked the common abstract base class
      • all sources inherit display/animation (.disp()) and batch tensor (.tensor()) methods
      • all sources accept keyword arguments forwarded to convert
      • VideoCamera has a new list method showing camera name/id mapping
      • VideoFile, WebCam, and EarthView are unchanged
    • CLI
      • improved --help strings and option ordering
      • mvtbtool supports image preloading into the IPython namespace, autoreload, optional PyTorch import, and MVTB_OPTIONS environment variable
      • tagtool reports ArUco/April tags to stdout or JSON
    • notebook support
      • notebooks revamped and extended
      • threshold_interactive works in Jupyter
      • notebook workflows are unit-testable
      • distributed as a ZIP built by GitHub Actions
      • distributed in a zero-install JupyterLite environment (WASM + Emscripten)

  • Deprecated

    • iread(..., grey=...) and iread(..., gray=...); use mono= instead
    • img.image and img.A; use img.array
    • img.to_int() and img.to_float(); use img.array_as()
    • column; use view1d
    • thresh(); use threshold()
    • threshold keyword t; use threshold
    • threshold keyword opt; use method
    • ithresh; use threshold_interactive
    • adaptive_threshold; use threshold_adaptive
    • legacy Image.Constant positional size form (for example migrate from Image.Constant(10, 20, 30) to Image.Constant(30, size=(10, 20)))
    • ImageCollection; use FileCollection
    • ZipArchive; use FileArchive
    • rank; use rankfilter
    • Image.Zeros(10) is now Image.Zeros(size=10)
    • Image.Constant(3,4,5) is now Image.Constant(5, size=(3,4))
    • Image.Random(10) is now Image.Random(size=10)

  • Fixed

    • resolved many Sphinx warnings
    • resolved issues in plot/runblock examples
    • improved OpenCV documentation link consistency where intersphinx is not effective
    • fixed issues in idisp that confused Jupyter Matplotlib backend selection

  • Miscellaneous

    • generated OpenCV guard functions from OpenCV documentation for input validation
    • Kernel class refactored to its own file
    • ROS synchronization support via SyncROSStreams

1.0.2 January 2026

  • Image class

    • warp_affine can now warp an image into a given output image

    • graphic primitives

    • create an ArUco marker

    • save as PDF

    • all the draw_xxx() functions in base now have wrappers as methods of Image

    • draw_xxx() now handle floating point arguments, rounding them to the neares int

    • improvements in name2color to handle image datatypes and colororder

  • FiducialCollection class, represent a generalized calibration board with AR tags

  • ArUcoBoard class, represent a generalized ArUco calibration board

  • changed to src folder layout, code is in src/machinevisiontoolbox

  • changed from setuptools to hatch

  • works if Open3D is not installed, it's always well behind in Python version support

  • removed numpy < 2.0 constraint, OpenCV now suppports numpy 2.x

  • working with Python 3.12 (except for Open3D)

  • added command line tools:

    • imtool for displaying images, exploring pixels, picking points, showing metadata etc. Works with your own images or those provided with MVTB
    • tagtool for highlighting AR tags in images

1.0.1 March 2025

  • Image class

    • .dice method, chops an image up into tiles, can be overlapping
    • .Tile(columns=0) will arrange the tiles into a roughly square layout
    • Constant images, previously many of these could only generate square images, this is now generalized
    • .Chequerboard creates a chequerboard pattern
    • set background color for image warp undefined pixels
    • single plane images can have a colorplane name
    • deprecate colordict(), use colororder2dict() instead
    • String now supports two string formats, can create color images
    • fixed bug with gamma="sRGB" which always returned a float image, type is now the same as passed

  • Blobs

    • new methods for blob aligned box, plot_aligned_box,
    • plot_perimeter options
    • perimeter_hull convex hull
    • fixed bug with runt blobs

  • Kernels

    • added Kernel.HGauss for Hessian of Gaussian
    • added Kernel repr method, disp method ArUcoBoard class

  • Camera models

    • Fixed errors in some camera projection models

  • Point clouds

    • PointCloud now has a "constructor" for depth images, PointCloud.DepthImage()

  • Miscellaneous

    • Lots more code examples and plots
    • Move decoratores scalar_result and array_result to machinevisiontoolbox.decorators.py
    • improved unit testing

1.0.0 January 2025

  • Kernel methods now return Kernel instances rather than NumPy arrays. Methods that accept a kernel can accept a Kernel instance or a NumPy array. Methods exist to stringify or print a kernel.

  • The indexing order of an Image object (using square bracket __getitem__ access) has changed and is now img[u,v] where u is the column coordinate and v is the row coordinate. This is consistent with the column-first convention used across the Toolbox and is consistent with the $(u,v)$ coordinate system for images. But, this is the opposite order to that used for NumPy index on the underlying array, and to earlier versions of the Toolbox.

    • a 2-tuple of integers, select this pixel. If the image has multiple planes, the result is a vector over planes.
    • a 3-tuple of integers, for a multiplane image select this pixel from the specified plane.
    • a 2-tuple of slice objects, select this region. If the image has multiple planes, the result is a 3D array.
    • a 3-tuple of slice objects, select this region of uv and planes
    • an int, select this plane
    • a string, select this named plane or planes

  • added pixel(u,v) method for faster access to a single pixel value, scalar or vector.

  • the children of a Blob is now given as a list of Blob objects, not their indices within the overall list of blobs. This simplies traversing the blob hierarchy tree. Similarly, the parent is a reference to the parent Blob object rather than an index, and is None if the blob has no parent (its parent is the background).

  • Documentation overhaul, both in-code docstrings, and the organization of the overall Sphinx document.

  • Additional unit tests

  • Myriad minor bug fixes, see commit history.