.. _changelog_v2_0_0:

v2.0.0
======

v2.0.0 adds **HoG** (histogram-of-gradients), a simple **lens-correction**
function, an ``image.clear()`` method, and makes the binary/string image
operations chainable. The experimental :mod:`tof` module was removed and the
keypoint corner detector switched to FAST-12 — read the breaking changes
below.

.. contents:: On this page
   :local:
   :depth: 1

Highlights
----------

- **HoG** — histogram-of-gradients feature extraction (with an example).
- **Lens correction** — a simple ``image.lens_corr()`` function.
- ``image.clear()`` — clear an image.
- **Chainable ops** — binary/string image operations return the image for
  chaining.
- **Breaking:** the :mod:`tof` module was removed and the keypoint corner
  detector switched to FAST-12 — see the breaking changes.

New features
------------

- **HoG** — added histogram-of-gradients feature extraction with a ``hog.py``
  example.
- **Lens correction** — added a simple ``image.lens_corr()`` function.
- ``image.clear()`` — added a method to clear an image.

Other changes and improvements
------------------------------

- Binary / string image operations now return the argument image so calls can
  be chained; blocking socket functions now honor the socket timeout.

Bug fixes
---------

- Fixed the template-match ROI when the template and frame are the same size,
  the ``image.gaussian()`` return object, and a ``socket_recv`` bug.

Breaking API changes
--------------------

User-visible API breaks between v1.9.0 and v2.0.0. Scope: Python C-modules in
``modules/`` and Python libraries in ``scripts/libraries/``.

Each change is tagged with its impact:

- *minor* — narrow API; only affects scripts that used it.
- *behavior* — same API, different results; re-check tuned scripts.

Changes are grouped by impact in that order. If you just want to port your
code, jump to the :ref:`migration checklist <v2_0_0_migration>` at the end.
Each commit hash links to its diff on GitHub.

.. _v2_0_0_tof:

:mod:`tof` module removed *(minor)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The experimental :mod:`tof` (time-of-flight) module was removed. Scripts that
did ``import tof`` will fail and must drop the dependency.

*Commits:* `60dc3f7e9 <https://github.com/openmv/openmv/commit/60dc3f7e9>`__

.. _v2_0_0_fast12:

Keypoint corner detector switched to FAST-12 *(behavior)*
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The keypoint corner detector switched to FAST-12, so
``image.find_keypoints()`` detects a different set of corners than before.
Re-check / re-tune keypoint-matching scripts.

*Commits:* `ae10b0a40 <https://github.com/openmv/openmv/commit/ae10b0a40>`__

.. _v2_0_0_migration:

Migration checklist
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Remove any ``import tof`` usage (:ref:`the tof removal <v2_0_0_tof>`) and
re-tune keypoint matching against the FAST-12 detector
(:ref:`the FAST-12 change <v2_0_0_fast12>`). All other scripts run unchanged.