bump version 0.4.1

Author: kalwalt

CHANGELOG.md

@@ -2,6 +2,37 @@
 
 All notable changes to this project will be documented in this file.
 
+## [0.4.1] - 2026-05-09
+
+### Patch release — Matrix code GlobalID, paramGL ports, and quality fixes
+
+### 🚀 Features
+
+- *(matrix)* Add ARMatrixCodeType::GlobalID variant and MatchOk.global_id field
+- *(bch)* Implement BCH(127,64,22) decoder for AR_MATRIX_CODE_GLOBAL_ID
+- *(matrix)* Add 14x14 GlobalID bit extraction with 4-direction traversal
+- *(matrix)* Wire AR_MATRIX_CODE_GLOBAL_ID into ar_matrix_code_get_id and ar_get_marker_info
+- *(matrix)* Add GlobalID support to matrix code type and update parsing logic
+- *(core)* Implement ar_param_change_size and argl_camera_frustum_rh
+- *(param_gl)* Port remaining three paramGL.c functions to param_gl.rs
+
+### 🐛 Bug Fixes
+
+- *(param_gl)* Fix clippy::doc_overindented_list_items on line 249
+- *(arlog)* Scope test log capture to the thread running the arlog test
+
+### 🚜 Refactor
+
+- *(param)* Change ar_param_change_size to mutate ARParam in-place
+
+### 📚 Documentation
+
+- *(param_gl)* Fix C source reference from argl.c to paramGL.c
+
+### ⚙️ Miscellaneous Tasks
+
+- Finish converting load_nft.rs to arlog_*! macros
+
 ## [0.4.0] - 2026-05-06
 
 ### Milestone 6 — Math & homography in pure Rust

Cargo.toml

@@ -9,7 +9,7 @@ exclude = [
 resolver = "2"
 
 [workspace.package]
-version = "0.4.0"
+version = "0.4.1"
 authors = ["kalwalt <github@kalwaltart.it>"]
 edition = "2021"
 description = "A high-performance, memory-safe Rust port of WebARKitLib (ARToolKit) for native and WASM."

README.md

@@ -38,14 +38,14 @@ Add `webarkitlib-rs` to your `Cargo.toml`:
 
 ```toml
 [dependencies]
-webarkitlib-rs = "0.3"
+webarkitlib-rs = "0.4"
 ```
 
 To enable the C++ FFI backend for KPM (Natural Feature Tracking):
 
 ```toml
 [dependencies]
-webarkitlib-rs = { version = "0.3", features = ["ffi-backend"] }
+webarkitlib-rs = { version = "0.4", features = ["ffi-backend"] }
 ```
 
 > When installing from crates.io, no extra setup is required — the C++
@@ -204,7 +204,7 @@ Enable the `log-helpers` feature and call the bundled initializer once in your b
 
 ```toml
 [dependencies]
-webarkitlib-rs = { version = "0.3", features = ["log-helpers"] }
+webarkitlib-rs = { version = "0.4", features = ["log-helpers"] }
 ```
 
 ```rust
@@ -328,6 +328,7 @@ The workspace contains two crates:
   - FREAK descriptor extraction via `kpm_extract_features` C API (7000+ features per marker)
   - Detailed step-by-step logging with timestamps and per-level statistics
 - **M5 -- NFT Pipeline Performance**: Rayon parallelism for pyramid generation and Stage-3 feature scoring, plus optional SSE4.1/AVX2+FMA SIMD vectorization of the `get_similarity` correlation kernel. ~1.7× total speedup on x86_64.
+- **M6 -- Math & homography in pure Rust**: Ported all free mathematical functions from FreakMatcher into `crates/core/src/kpm/freak/math.rs` and `freak/homography.rs` (~1476 lines across 5 C++ headers). Eliminates the only remaining Eigen dependency: the 3×3 matrix exponential in `IncrementalHomographyFromLieWeights`.
 
 ### 🎯 Short-term Goals (toward v1.0.0)
 - **Complete KPM in idiomatic Rust**: Port the remaining KPM feature extraction and matching logic to pure Rust, removing the C++ FFI dependency, and ship a working end-to-end NFT example.

crates/wasm/pkg/package.json

@@ -5,7 +5,7 @@
                           "kalwalt \u003cgithub@kalwaltart.it\u003e"
                       ],
     "description":  "A high-performance, memory-safe Rust port of WebARKitLib (ARToolKit) for native and WASM.",
-    "version":  "0.4.0",
+    "version":  "0.4.1",
     "license":  "LGPL-3.0-or-later",
     "repository":  {
                        "type":  "git",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "webarkitlib-rs",
-  "version": "0.4.0",
+  "version": "0.4.1",
   "description": "Port of WebARKitLib (ARToolKit) to Rust and WASM",
   "private": true,
   "scripts": {