1 ViSP 2 Visual Servoing Platform 3 Resume of the change log 4 5 Copyright (C) 2005 - 2021 by Inria. All rights reserved. 6 https://visp.inria.fr 7 8ViSP 3.4.0 (released February 26, 2021) 9 - Contributors: 10 . This release was possible thanks to contributions from Fabien Spindler, 11 Pierre Chatelain, Souriya Trinh, Joudy Nader 12 . Thanks also to Sergio Agostinho 13 - New features and improvements 14 . Compatibility with FreeBSD 15 . Introduce transparency when displaying filled circle and rectangle with 16 vpDisplayOpenCV 17 . Complete refactoring of https://github.com/lagadic/visp_unity project 18 a wrapper between ViSP and Unity 19 . BLAS/LAPACK usage for linear algebra with either Intel MKL, OpenBLAS, Atlas, 20 GSL, Netlib or Lapack built-in. Under Ubuntu, update-alternatives allows 21 to switch during runtime between OpenBLAS, Atlas and Netlib 22 . Remove vpMbEdgeMultiTracker, vpMbEdgeKltMultiTracker and vpMbKltMultiTracker 23 deprecated classes. Use rather vpMbGenericTracker 24 . visp.pc file used by pkg-config and visp-config script updated to 25 be able to build a project that uses ViSP as 3rd party without CMake 26 . New vpReflexTakktile2 class and examples to control Reflex Takktile 2 hand 27 from Right Hand Robotics 28 . New vpGaussianFilter class for Gaussian blur operation 29 . vpRealsense2 class was extended to support Intel Realsense T265 device 30 . Introduce Kannala Brandt projection model for fisheye cameras in vpCameraParameters 31 . Extend existing tools to support Kannala Brandt projection model for XML I/O, 32 undistort, pixel-meter and meter-pixel conversion 33 . Introduce analysis tools for camera calibration / hand-eye calibration 34 (see tutorials) 35 . New cmake option to use MathJax to speed up online doc build 36 . Docker images available on Docker Hub: 37 https://hub.docker.com/repository/docker/vispci/vispci 38 . Support of Kinova Jaco assistive robotic arm that could be controlled 39 using vpRobotKinova 40 . Compat with Basler Pylon 6.x Camera Software Suite 41 . New wrapper in vpUeyeGrabber to support IDS uEye Camera Software Suite 42 . Compat with OpenCV 4.5.0 43 - Tutorials 44 . New tutorial: Basic linear algebra operations 45 . New tutorial: How to create and build a project that uses ViSP without CMake 46 . New tutorial: Installation from Docker images 47 - Bug fixed 48 . [#713] 3.3.0 build fails on non-linux systems: fatal error: 'linux/serial.h' 49 file not found 50 . [#716] Build issue on FreeBSD with g++ 51 . [#718] vpImage<unsigned char>::getValue() is not working on big endian arch 52 . [#726] Segfault in vpServo when the number of visual features is very 53 large (> 50.000) 54 . [#728] vpProjectionDisplay doesn't display frame with RGB colors respectively 55 for X, Y and Z axis 56 . [#731] Link issues using pkgconfig with static libraries 57 . [#735] MKL and GSL Blas/Lapack 3rd parties incompatibility 58 . [#750] Cannot detect OpenMP with clang on MacOS 59 . [#763] VISP does not support the latest PCL release 1.11.0 60 . [#767] Compile from source on Ubuntu Focal raises CMake error with Ogre 1.9 or 2.1 61 . [#777] Issue when calling vpMatrix::eigenValues() using lapack built-in 62 . [#780] Projects have to explicitely link against Boost when compiling ViSP with ar module 63 . [#781] Wrong share install path on unix-like system 64 . [#785] Static variable in vpServo 65 . [#787] Unable to build simdlib 3rd party for iOS 66 . [#792] Mismatch between mu_ij and n_ij centered moments of an ellipse 67 . [#798] Inconsistant handling of Exif Orientation between libjpeg and opencv 68 . [#799] Issue when parsing .cao model with no newline at end of file 69 . [#801] Build issue with visp_java 70 . [#803] Segfault with MBT and when a circle disappears 71 . [#806] Error running the Java sample with intel-mkl 2020.2.254-1 72 . [#808] vpVirtuose.cpp doen't build with Visual 2019 (vc16) 73 . [#812] Online doc formula rendering issue with Ghostscript on OSX 74 . [#817] vpIoTools::getFileExtension prints "Debug sepIndex: 0" to std::cout 75 . [#818] Model-based tracking issue using RGBD-data on Windows 76 . [#820] Error when composing two RT transformations in template tracker 77 . [#822] Issue in ellipse display and usage 78 . [#832] Memory leak when reading a sequence of images with vpVideoReader 79 . [#838] vpImage::getValue() fails on Alpha arch 80 . [#841] Build issue with PCL 1.11.0 on OSX 81 . [#842] iOS framework build process is unable to detect opencv2.framework as 3rd party 82 . [#845] Fix ME display when calling setPose() without track() after 83 . [#857] Reading a color image with vpImageIo::readPNG() can lead to a gray level image 84 . [#859] Wrong visp.pc content with PCL 1.10.0 around VTK library names 85---------------------------------------------- 86ViSP 3.3.0 (released February 14, 2020) 87 - Contributors: 88 . This release was possible thanks to contributions from Fabien Spindler, 89 Souriya Trinh, Gatien Gaumerais, Yasutomo Shirahama, Yash Kapoor, Noura Neji, 90 Rahaf Rahal, Romain Lagneau, ahfuzhang, Franco Fusco, Olivier Kermorgant, 91 Alexander Oliva 92 - New features and improvements 93 . Upgrade to new AprilTag3 version. Note that TAG_36h10, TAG_25h7 and 94 TAG_36ARTOOLKIT are deprecated and that new families: TAG_CIRCLE21h7, 95 TAG_CIRCLE49h12, TAG_CUSTOM48h12, TAG_STANDARD41h12, TAG_STANDARD52h13 96 are supported. AprilTag detection time is reduced 97 . Remove libxml2 3rd party dependency to use pugixml built-in 98 . Replace pthreads-win32 for POSIX threads for windows 3rd party with 99 pthreads4w implementation 100 . New matrix and vector initialization methods to ease setting elements 101 . Introduce Eigen <-> ViSP conversion functions in vp namespace 102 . Add OpenBLAS, Intel MKL and Atlas explicit support 103 . Add support of vpImage<vpRGBa> to vpMbGenericTracker 104 . Add support of vpImage<vpRGBa> to vpKeyPoint 105 . Introduce force/torque controller for Franka Emika Panda robot in 106 vpRobotFranka class 107 . New vpQbDevice and vpQbSoftHand classes and examples to control 108 qbrobotics devices 109 . Compatibility with Microsoft Visual C++ 2019 (MSCV 16) 110 . Compatibility with FlyCapture 2.13 to enable vpFlyCaptureGrabber usage 111 . Compatibility with PCL > 1.9.1 to enable additional features in 112 vpRealSense2 class 113 . Compatibility with Windows 10 SDK latest version to enable vpDisplayGDI 114 usage 115 . Compatibility with Fedora 31 116 . Compatibility with Raspberry 4 Alpine 117 . New option to select CXX standard set by default to c++11 118 . Introduce a timeout (default to 50ms) during DataMatrix code detection 119 implemented in vpDetectorDataMatrixCode class 120 . New vpForceTorqueAtiNetFTSensor class to get F/T measurements from an 121 ATI F/T sensor connected to a Net FT box 122 . New vpRobotBebop2 class a wrapper over ARSDK3 to control Parrot Bebop2 123 drone 124 . New vpRobotFlirPtu class, a wrapper over Flir pan-tilt unit SDK 125 . New vpForceTorqueIitSensor class, a wrapper over IIT force-torque sensor 126 . Optimize template tracker 127 . Modify vpVideoReader to support MTS video format 128 . Upgrade to AprilTag 3.1.1 last release 129 . Introduce performance tests using Catch2 130 . Modify vpVideoReader to enable MTS video format reading 131 . Use only OpenCV required modules to reduce the number of dependencies 132 . Remove valgrind false positive memory leaks adding a suppression file 133 . Introduce Java bindings for vpGenericTracker and vpDetectorAprilTag classes 134 . New vpImageDraw and vpFont classes for basic drawings (line, circle, 135 rectangle, text) in an image without the need of a vpDisplay 136 - Tutorials 137 . New tutorial: Installation from source for Windows with Visual C++ 2019 138 (vc16) 139 . New tutorial: Cross-compilation for UWP from Windows host with Visual 140 C++ 2019 (vc16) 141 . New tutorial: IBVS with Panda 7-dof robot from Franka Emika 142 . New tutorial: Visual-servoing with Parrot Bebop 2 drone 143 . New tutorial: Visual servoing with FLIR Pan Tilt Unit 144 . New tutorial: AprilTag marker real-time detection on iOS 145 . New tutorial: Introduce a new class with 3rd-party dependencies 146 . New tutorial: AprilTag detection in java with ViSP 147 . New tutorial: Generic model-based tracking in java with ViSP 148 - Bug fixed 149 . [#523] dpkg-shlibdeps produces an error during Debian packaging 150 . [#525] Tests are failing during Debian package build in a container 151 . [#546] ViSP doesn't build when C++11 off and PCL on 152 . [#549] Bug in unsigned int vpBSpline::findSpan(double u) 153 . [#554] Bug in SaveRealSenseData.cpp prevents install on windows 154 . [#559] AprilTag detector freeze with msvc built when more than 1 thread 155 is used 156 . [#564] visp_java build fails when OpenCV and libjpeg or libpng are not 157 used 158 . [#570] Could not get left and right Infrared images from RealSense D435 159 . [#573] VISP fails to build with cmake 3.14.3 and PCL 1.9.1 160 . [#574] Compatibility problem with PCL > 1.9.1 161 . [#597] Fix vpImage bitmap deletion when copyData = false 162 . [#614] Performance issues in vpTemplateTrackerMIInverseCompositional 163 . [#621] Fix pointcloud computation when align with librealsense2 164 . [#650] Video reader ends prematurely on some mp4 165 . [#651] visp_ros installation error 166 . [#655] Build error with Ubuntu 12.04.5 LTS 167 . [#661] Possible issues in image Moments calculations 168 . [#665] Build error with Ubuntu 12.04.5 LTS 169 . [#667] Tutorial-apriltag-detector seg fault 170 . [#668] April Tags and depth image 171 . [#669] Fix segfault and memory leak when BEST_RESIDUAL_VIRTUAL_VS or 172 HOMOGRAPHY_ORTHOGONAL_ITERATION pose estimation method are used 173 . [#679] Fix display 174 . [#705] Fix error computation in the VVS loop for plane normal 175 . [#706] visp.pc pkg-config file not conform to man page 176---------------------------------------------- 177ViSP 3.2.0 (released January 23, 2019) 178 - Contributors: 179 . This release was possible thanks to contributions from Fabien Spindler, 180 Souriya Trinh, Olivier Kermorgant, Mathieu Simon, Francois Chaumette, 181 Marc Pouliquen, Jason Chevrie, Yash Kapoor, Tianhuanyu, Yasutomo Shirahama, 182 ashwinpathak20 183 . Google Summer of Code 2018: Akshay Sharma that ported ViSP to Java and Android, 184 and Utkarsh Tripathi that developped the wrapper between ViSP and Unity. 185 - New features 186 . Turn cxx11 on by default 187 . Introduce vpSerial class to handle serial communication 188 . New vpRobotFranka class, examples and test showing how to use Panda robot 189 from Franka Emika 190 . In MBT: 191 - Improve the generic tracker implemented in vpMbGenericTracker class 192 - Add possibility to introduce a homogeneous transformation matrix 193 when loading model and init files, useful to change the origin of the 3D 194 cad model; see vpMbTracker::loadModel() and vpMbTracker::initClick() 195 - Add support of pgm, png, jpg image format for initClick helper 196 - Introduce a new confidence indicator that is working with all the visual 197 features types to detect tracking failures; 198 see vpMbGenericTracker::computeCurrentProjectionError() 199 . Add basic template matching algorithm in vpImageTools::templateMatching() 200 . Improve vpRealsense2 class that is the wrapper over librealsense 2.x 201 . QR matrix decomposition introduced in vpMatrix 202 . New solvers for Linear Programs and Quadratic Programs implemented in vpLinProg and 203 vpQuadProg classes 204 . Add vpDetectorDNN wrapper for deep learning object detection. The idea is to have a 205 small wrapper over the OpenCV DNN module as much as possible light and simple. 206 vpDetectorDNN is specialized to handle object detection tasks and provide a 207 "convenient" way to have the detection bounding boxes. 208 . Improve eye to hand calibration 209 . Improve PnP pose estimation 210 . Compat with OpenCV 4 211 . Compat with Fedora 29 212 . Introduce SonarQube code quality analysis tool. Analysis reports are available on 213 https://sonarqube.bordeaux.inria.fr/sonarqube/dashboard/index/rainbow:visp:master 214 - Tutorials 215 . New tutorial: Installation from source on a Jetson equipped with an Orbitty Carrier 216 board http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-jetson.html 217 . New tutorial: Using ViSP and Matlab 218 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-visp-matlab.html 219 . New tutorial: PBVS with Panda 7-dof robot from Franka Emika 220 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-franka-pbvs.html 221 . New tutorial: Visual-servoing with mBot Ranger educational robot kit 222 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-mbot-vs.html 223 . New tutorial: Camera extrinsic calibration 224 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-calibration-extrinsic.html 225 . New tutorial: Markerless generic model-based tracking using a color camera 226 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic.html 227 . New tutorial: Markerless generic model-based tracking using a stereo camera 228 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-stereo.html 229 . New tutorial: Markerless generic model-based tracking using a RGB-D camera 230 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-rgbd.html 231 . New tutorial: Markerless generic model-based tracking using AprilTag for 232 initialization (use case) 233 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-apriltag-live.html 234 . New tutorial: Developement of an interface and demo between ViSP and Unity engine 235 https://github.com/lagadic/visp_unity/blob/master/README.md 236 . New tutorial: ViSP for Unity introduction 237 https://github.com/lagadic/visp_unity/wiki 238 . New tutorial: Generating a DLL for Unity 239 https://github.com/lagadic/visp_unity/wiki/Generating-DLL 240 . New tutorial: Unity demo based on ViSP 241 https://github.com/lagadic/visp_unity/wiki/Running-in-Unity 242 . New tutorial: Installing ViSP for Java 243 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-java.html 244 . New tutorial: First java application with ViSP 245 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-java-started.html 246 . New tutorial: Building ViSP SDK for Android 247 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-create-android-sdk.html 248 . New tutorial: Creating a simple Android App with ViSP 249 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-android-getting-started.html 250 . New tutorial: Deep learning object detection 251 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-detection-dnn.html 252 . New tutorial: Draw basic drawings 253 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-basic-drawings.html 254 . New tutorial: How to use Blender to generate simulated data for model-based tracking experiments 255 http://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-rgbd-Blender.html 256 - Bug fixed 257 . [#279] Unable to build ViSP with Visual Studio 2010 258 . [#281] Segfault in mbtGenericTrackingDepth.cpp when run on big endian arch 259 . [#286] Fix build issue on Debian hurd-i386 arch 260 . [#287] On Win XP inet_ntop() could not be located in WS2_32.dll 261 . [#293] Rotation extrinsic for RealSense is not correct 262 . [#299] Unable to build when libaria is used 263 . [#302] Fix build issue with librealsense 2.9.1 or higher 264 . [#324] How to compile ViSP within Visual Studio 2013 on windows 7? 265 . [#348] ViSP-third-party.txt is erased after make 266 . [#353] Test imageSequenceReader not working 267 . [#355] Segmentation fault with vpRealSense2 acquire 268 . [#368] ViSP Contrib Module including non-existant vpConfig.h header 269 . [#371] Wrong conversion from vpRotationMatrix to vpThetaUVector for rotations around pi 270 . [#373] ViSP doesn't build with OpenCV 4.0.0 271 . [#382] Meaningless camera parameters when calibrating built-in auto-focusing camera 272 . [#389] CMake error with Xcode generator 273 . [#391] Tutorial command error 274 . [#400] vpCircle::display() didn't work as expected 275 . [#422] Two #include lines, <linux/kernel.h> and <linux/types.h>, aren't needed for V4L 276 . [#423] Man page location should be man/man1 277 . [#424] Please have one cmake variablefor DATADIR 278 . [#425] Please remove the 'register' specifier everywhere: it is deprecated and incompatible with C++17 279 . [#433] Can not build android SDK 280 . [#435] vpRobot::END_EFFECTOR_FRAME not implemented in vpRobotViper650 281 . [#442] Unable to build ios framework 282 . [#453] CMake error when building tutorials and examples with ViSP from installation folder 283 . [#466] Build error with libboost_thread-mt.a 284 . [#429] vpRobotViper650 getPosition(vpRobot::REFERENCE_FRAME) error 285 . [#485] CMake error when PCL is build with VTK option VTK_ENABLE_KITS=ON 286 . [#515] Model-based tracking stops throwing an exception: the image of the straight line is a point! 287 . [#519] Cannot build java bindings when lapack is not used 288---------------------------------------------- 289ViSP 3.1.0 (released December 22nd, 2017) 290 - Contributors: 291 . This release was possible thanks to contributions from Fabien Spindler, 292 Souriya Trinh, Wenfeng Cai, Oleksandr Borysov, Marc Pouliquen, Ronald Ensing, 293 Yuriy Baranov, Jason Chevie 294 . Google Summer of Code 2017: Vikas Thamizharasan that developed for the 295 model-based tracker Blender import/export CAD model plugins and a Qt-based 296 CAD model viewer 297 - New features 298 . Improve vpRealSense to better support R200 device 299 . Improve vpConfig.h header content to remove path to build tree when installed 300 . Speed-up vpMbKltTracker and vpMbEdgeKltTracker during reinit 301 . Remove numerical recipes code that is not open-source 302 . Changes done in vpMatrix to use either Lapack, OpenCV or GSL 3rd party 303 . Eigen 3rd party was introduced as an alternative for matrix computation 304 . Lapack is now embedded as a build-in when Lapack system library is not found 305 . vpVideoReader was improved to better detect first and last image numbers of an 306 image sequence and better handle the frame step 307 . Speed-up vpColVector::insert(), vpMatrix::insert() and vpMatrix::stack() 308 . Refactor model-based tracker (+ some segfault / memory fixes) 309 . Introduce vpMbGenericTracker a new class that can handle all the features 310 supported by the model-based tracker but also consider stereo or multi-view 311 tracking 312 . Add model-based depth tracking using face normals or using a dense approach 313 . Use BLAS library to compute dgemm and dgemv operations if available 314 . Add Hadamard product 315 . Add an explicit recopy parameter when resizing a vpArray2D 316 . Add move constructor / assignment operator for vpMatrix, vpColVector and vpImage 317 . Introduce vpPylonGrabber a wrapper for Basler cameras using Pylon SDK 318 . Introduce AprilTag as a 3rd party and vpDetectorAprilTag wrapper 319 . Remove ffmpeg 3rd party usage 320 . Introduce AppVeyor check for continuous integration (MSVC + mingw-w64) 321 . Fix slow acquisition of color pointcloud with RealSense camera 322 . Improve vpIoTools to make recursive folder and sort files 323 . Add display of polygon lines (vpDisplay::displayLine() / 324 vpDisplay::displayDotLine()) 325 . Add CPU capabilities check 326 . Improve VISP_INPUT_IMAGE_PATH env var usage to get more flexibility 327 . Update ViSP license to GPLv2 or later 328 . Introduce new imgproc module dedicated to image processing and tutorials 329 . Add UDP client / server 330 . Add compat with Intel Compiler icc 331 . Add new class vpRealSense2 to support Realsense 2 SDK 332 . Add Franka Control Interface C++ API detection and native examples from Franka 333 - Tutorials 334 . New tutorial: How to extend ViSP creating a new contrib module 335 . New tutorial: AprilTag marker detection on iOS 336 . New tutorial: Installation from source for Windows with Visual C++ 2017 (vc15) 337 . New tutorial: Installation from source for UWP with Visual C++ 2017 (vc15) 338 . New tutorial: How to import a CMake project that uses ViSP in Eclipse IDE 339 . New tutorial: Brightness and contrast adjustment 340 . New tutorial: Contrast and image sharpening techniques 341 . New tutorial: Automatic thresholding 342 . New tutorial: Contours extraction from a binary image 343 . New tutorial: Connected-components labeling 344 . New tutorial: Flood fill algorithm 345 . New tutorial: Practical example: count the number of coins in an image 346 . New tutorial: Markerless generic model-based tracking 347 . New tutorial: AprilTag marker detection 348 . New tutorial: Markerless model-based tracker CAD model editor - GSoC 2017 project 349 - Bug fixed 350 . [#137] Fix bug in extration of vpRotationMatrix from vpPoseVector using 351 vpPoseVector::getRotationMatrix() 352 . [#149] Bug in vpTime::measureTimeMicros() (OS detection was done wrong) 353 . [#160] Build issue with msvc arround std::min() std::max() 354 . [#162] Redefinition errors in WinSock2.h and winsock.h 355 . [#165] Segmentation fault when cout a null row vector 356 . [#171] Segfault when using vpMatrix::pseudoInverse() 357 . [#175] Unable to track an ellipse with vpMeEllipse 358 . [#177] Bug in line 124 of VISPConfig.cmake 359 . [#178] Comments are not handled in vpMbTracker::initFromPoints() 360 . [#183] Inversion between pixel size and optical center in vpRealSense class 361 . [#187] Integer division by zero in vpDisplayWin32.cpp 362 . [#200] Issue when reading PNG images with 16bits depth with libpng 363 . [#201] Fix read PNG images with 16 bits depth with libpng 364 . [#207] CMake option 'ACTIVATE_DEBUG_TRACE' has never been used 365 . [#226] Planar pose Lagrange computation returns a left handed frame 366 367---------------------------------------------- 368ViSP 3.0.1 (released February 3rd, 2017) 369 - New features 370 . Compatibility with Microsoft Visual C++ 2017 (MSCV 15) 371 . Compatibility with Universal Windows Platform (UWP); Windows Phone 372 and Windows Store 8.x and 10.0 373 . Add vpMatrix, vpColVector, vpTranslationVector missing member functions 374 to keep compat with ViSP 2.10.0 375 . New vpFlyCaptureGrabber class to capture images from PointGrey 376 cameras (USB-3, firewire, GigE) 377 . New vpVirtuose class, a wrapper over Haption Virtuose SDK that is 378 provided with their haptic devices 379 . New vpComedi and vpForceTorqueAtiSensor classes to get synchonous 380 data from ATI F/T sensors 381 . New vpRealSense class, a wrapper over RealSense SDK to capture 382 data from SR300, F200, R200 RGB-depth sensors: 383 + Acquisition of the color / depth / infrared streams + the associated 384 point cloud 385 + Possibility to set the stream parameters (resolution, FPS, ...) 386 + Possibility to retrieve stream aligned (e.g. color stream aligned to depth) 387 . New cross platform multi-threading capabilities with vpMutex and 388 vpThread classes 389 . Crosscompiling capabilities tested for Raspberry Pi target 390 . Crosscompiling capabilities tested for Nao, Romeo and Pepper robots 391 . OSX/iOS framework creation with support of OpenCV 3rd party 392 . Introduce SSE2, SSE3 and SSSE3 optimizations 393 . New meta-header visp3/visp.h that allows to include all ViSP headers 394 in one line 395 . New meta-header visp3/visp_<module>.h that allows to include all the 396 headers of a given module in one line 397 . When using cxx11 support (USE_CPP11=ON), the corresponding compiler 398 flag is propagated to the project that use ViSP as 3rd party 399 . In vpServo introduce setCameraDoF() that allows to turn off the usage 400 of some dof 401 . Model-based tracker: 402 + Introduce stereo as well as more generic multi camera tracking capabilities 403 + New classes vpMbEdgeMultiTracker, vpMbKltMultiTracker, and 404 vpMbEdgeKltMultiTracker for the hybrid version 405 . Set vpRGBa images alpha channel default value to 255 406 . Allow to resize the display in order to display image that are larger than 407 the screen resolution 408 . Introduce new CMake ENABLE_FULL_DOC var: when turned ON allows to build 409 doxygen documentation with all classes including internal ones 410 . Build information available in ViSP-third-party.txt is now more 411 complete, including OS, compiler, flags and 3rd party versions. 412 This information is also embedded in visp_core library and could 413 be obtained using vpIoTools::getBuildInformation() 414 . Improve RANSAC pose estimation computation time (noticeable with large data) 415 . vpKeyPoint class: 416 + Support for little / big endian architecture when writing learning data 417 into binary file 418 + Add possibility to learn keypoints on cylinders 419 + Add support of the new keypoint methods in OpenCV 3.1 and 3.2 420 + Add possibility to use enum type to select the keypoint 421 . Add possibility to save extra information (time, reprojection error, ...) 422 for the camera calibration process (e.g. in camera_calibration.cpp) 423 . Improve image morphology operations for grayscale images 424 . Add optimized image addition / subtraction for grayscale images 425 . Add possibility to load recursive CAO model with identical filenames 426 . Add possibility to retrieve clipped polygons for the model-based tracker 427 . Improve vpPolygon::isInside() computation time 428 . Add separable filter and switch between correlation / convolution in vpImageFilter 429 . Add possibility to print vpImage class in the terminal 430 . Add basic image resizing (nearest neighbor / bilinear / bicubic interpolation) 431 - Tutorials 432 . New tutorial: How to use multi-threading capabilities 433 . New tutorial: Crosscompilation for Raspberry Pi from Ubuntu host 434 . New tutorial: Installation from prebuilt packages for Arch Linux 435 . New tutorial: Installation from prebuilt packages for ROS 436 . New tutorial: Installation from prebuilt packages for iOS devices 437 . New tutorial: Installation from source for iOS devices 438 . New tutorial: How to create a basic iOS application that uses ViSP 439 . New tutorial: Image processing on iOS 440 . New tutorial: Cross-compilation for NAOqi OS from Ubuntu host 441 . New tutorial: How to create an application that uses ViSP on NAOqi OS 442 . New Tutorial: Markerless model-based tracking with stereo cameras 443 . New Tutorial: How to display an image 444 . New Tutorial: Pose estimation from QRcode 445 . New Tutorial: Installation from source for Universal Windows Platform (UWP) 446 - Bug fixed 447 . [#37] How to build for ios? build failed 448 . [#38] Wrong urls in visp/doc/tutorial-calibration.doc 449 . [#39] Meta header files visp_<module>.h not installed 450 . [#40] vpKeyPoint fails to R/W database on big endian arch 451 . [#42] Fails to build on Fedora 23 with Coin3-devel 452 . [#44] Reshape issue with vpRowVector or vpColVector 453 . [#47] Build issue in vpMath.h around vpMath::sign() 454 . [#48] Fix vpPoseVector::getThetaUVector() to return the adequate vector 455 . [#54] Error in vpHomography::projection() 456 . [#59] Unable to use visp-config or visp-config.bat to build a project 457 without CMake 458 . [#68] Visual C++ 2010 unable to build modules\core\test\math\testMath.cpp 459 . [#69] Unable to build ViSP under Windows without OpenCV 3rdparty 460 . [#75] visp.pc pkgconfig file is corrupted by optimized and debug keywords 461 . [#77] vpAROgre: wrong resources / plugins default path when used from 462 ROS installation 463 . [#82] Problem when comparing two vpImage (operator!=) 464 . [#84] Problem with vpImageMorphology and CONNEXITY_8 and with border pixels 465 . [#90] Fix potential build issue with isnan() and isinf() usage when cxx11 466 flags are used 467 . [#91] vpMeLine::computeRhoTheta should throw exception 468 . [#92] Is there any interface to resize display window? 469 . [#95] setEllipsoidBadPointsPercentage in vpDot2 not completly being taken 470 into account 471 . [#104] vpMomentAlpha: Results are not repeatable 472 . [#105] vpMomentAlpha: Question about symmetric judgement based on centered 473 moments 474 . [#106] Freeze when more than one GDI display is opened with mingw 475 . [#109] Link errors with undefined reference to TIFF 476 . [#111] vpColor doesn't work in mb-hybrid 477 . [#112] vpPose: Possible ambiguity or misunderstanding in doxygen message 478 . [#114] vpMomentAlpha: wrong abs() function using 479 . [#116] Link errors related to openmp 480 . [#117] vpMomentAlpha: out of range of [-Pi, Pi] in relative mode 481 . [#118] vpKeyPoint: perhaps misleading in document 482 . [#120] Build failed with clang/llvm 483 . [#126] vpPolygon::operator=() does not copy everything. 484 485---------------------------------------------- 486ViSP 3.0.0 (released December 18th, 2015) 487 - New features 488 . Compatibility with Windows 8.1 and 10 489 . Compatibility with Microsoft Visual C++ 2015 (MSCV 14) 490 . Compatibility with Odroid XU4 491 . Source code migrates to GitHub: http://github.com/lagadic/visp 492 . Introduce Travis continuous integration 493 . New website: http://visp.inria.fr 494 . Reorganize source in modules (core, vision, mbt, tt, …) with a library 495 per module named libvisp_<module>. Keep compat with previous releases. 496 . Allow to link contributions to ViSP source code using 497 VISP_CONTRIB_MODULES_PATH CMake var; 498 see http://github.com/lagadic/visp_contrib 499 . Model-based tracker: 500 + New visibility tests based on the scanline rendering algorithm. 501 + Improve Ogre3D visibility tests in order to use it in a probalistic 502 approach via the setNbRayCastingAttemptsForVisibility() 503 and setGoodNbRayCastingAttemptsRatio() functions. 504 + Introduction of cylinder tracking with the model-based trackers using 505 key points. 506 + Improve the setPose() functionnality to use the given pose as a 507 prediction of the key points position while using vpMbKltTracker and 508 vpMbEdgeKltTracker. 509 . Introduce vpArray2D template class that is inherited by all matrices and 510 vectors. 511 . vpKeyPoint class: 512 + Full code compatibility with OpenCV 3.0. 513 + Add support to the new Features introduce in OpenCV 3.0 and contrib 514 module releases. 515 + Add possibility to detect keypoints on an image pyramid with OpenCV 3.0. 516 + Add possibility to change the image type (jpeg, png, ppm, pgm) when 517 saving a learning file. 518 + Add OpenMP support for Affine SIFT. 519 + Add single matching filter (discard pairs of keypoints where multiple 520 query keypoints are matched to the same train keypoints). 521 + Add possibility to match train keypoints to query keypoints (could be 522 useful when we learn only on one image, it allows to avoid to match 523 background keypoints with train keypoints). 524 + Optimize the FLANN matching by learning once the train descriptors 525 instead of doing it at each call of the matching function (noticeable 526 with large train descriptors). 527 + Add possibility to use the FLANN matcher with binary descriptors. 528 + Fix displayMatching function and fix small memory leak in loadLearningData. 529 + Should be possible to read / write learning files in binary mode regardless 530 of the endianness of the host (need to be tested on a real case). 531 + Save learning files in XML mode with the full precision (according to 532 the data type). 533 . and a lot of improvements and fixes 534 - Tutorials 535 . New tutorial: Bridge over OpenCV 536 . New tutorial: Installation from source with Homebrew 537 . New tutorial: Installation from source on Windows 10 with Visual 2015 538 . Update all the installation tutorials since GitHub migration and modules 539 introduction and make more explicit 3rd party installation 540 . Update tutorial: Markerless 3D model-based tracking 541 - Bug fixed 542 . [18748] Ogre and wireframe resources not found after ViSP installation 543 . [18823] vpMatrix::kernel method returns false result if matrix has 544 less rows than columns 545 . [18939] vpParseArgv::ARGV_CONSTANT segfault 546 . [19312] Model-based tracker unable to initialize the number of cylinder 547 or circle from cao file 548 . [19326] segfault when using vpDisplayX::init(unsigned int, unsigned int, ...) 549 . [19368] Invalid rotation parameters in vpSimulatorViper850::getPosition() 550 . [#3] Issue when comparing two vpRGBa 551 . [#5] Unable to get calibration matrix K when model with distorsion is 552 used 553 . [#6] Issue with vpMath::round() 554 . [#18] Issues with vpColVector::median() + with assignment operator of 555 vpRowVector + with vpRowVector::normalize() function 556 557---------------------------------------------- 558ViSP 2.10.0 (released February 13th, 2015) 559 - New features 560 . New object detection and localisation capabilities that allow to 561 initialize for instance the model-based tracker (see tutorial). 562 . New bar code detectors that uses libdmtx and libzbar (see tutorial): 563 + vpDetectorQRcode class allows to detect QR codes 564 + vpDetectorDataMatrixCode class allows to detect data matrices 565 . New vpDetectorFace class that allows face detection based on OpenCV 566 Haar cascade classifier capabilities (see tutorial) 567 . New vpConvert class for type conversions from OpenCV to ViSP. 568 . Model-based tracker: 569 + Introduction of 3D circles that project as ellipses. 570 + In *.cao files comments are allowed on lines starting with # character. 571 + New functions getError() and getRobustWeights() useful to compute 572 tracking quality indicators. 573 + Introduction of setLod() for "level of detail" that checks if the size 574 of the feature is large enough to be considered by the tracker. 575 + Based on the rank of the interaction matrix turn off automatically the 576 degrees of freedom that cannot be estimated. Especially useful when 577 considering 3D objets with only cylinders and circles. 578 + and many other improvements and fixes. 579 . Video reader and writer support mpeg4. ffmpeg is no more requested 580 in vpVideoReader and vpVideoWriter. If ffmpeg is not detected or installed 581 we use OpenCV. 582 . New vpXmlParserHomogeneousMatrix class to read/write homogeneous 583 transformations from/to xml files 584 . Auto detection of visp-images-data Debian or Ubuntu package that allows 585 testing without setting VISP_INPUT_IMAGE_PATH 586 . If OpenCV version >= 2.4.8 use only OpenCV C++ api. Classes that use 587 IplImages as input are deprecated. 588 . Compat with RaspberryPi architecture 589 . Compat with OpenCV 3.x 590 . Compat with Yarp 2.3.63 591 . Compat with CMake 3.x 592 . Compat with MinGW w64 from http://mingw-w64.sourceforge.net/ 593 - Tutorials 594 . New tutorial to show how to install ViSP from Ubuntu official packages. 595 . New tutorial to show how to install ViSP on CentOS. 596 . New tutorial to show how to install ViSP on openSUSE. 597 . New tutorial to show how to install ViSP on Raspberry Pi. 598 . New tutorial to show how to install ViSP on Windows 8.1 with msvc. 599 . New tutorial to show how to install ViSP on Windows 8.1 with mingw. 600 . New keypoints matching tutorial. 601 . New bar code detection tutorial. 602 . New face detection tutorial. 603 . New object detection and localization tutorial 604 . Update KLT tracker tutorial to show how to initialize the tracker online. 605 . Update blob tracker tutorial to show how to use v4l2 live camera. 606 . Update model-based tracking tutorial for advanced usage. 607 - Bug fixed 608 . [17112] Error after second call to track() in vpMbEdgeTracker 609 . [17212] vp1394TwoGrabber: unable to select a camera from its guid 610 . [17457] Cannot apply a secondary task to a 7dof robot 611 . [17550] Build error with ffmpeg libraries 612 . [17620] vpXmlParserCamera::save() doesn't save the camera name and 613 image size 614 . [17644] vpDisplayX doesn't work on RaspberryPi 615 . [17659] ViSP+Ogre3D+boost: libboost_chrono cannot be opened 616 . [17705] Bad endianness support in vpDisplayX 617 . [17766] Compat with cmake 3.0.0: failed due to new CMP0026 policy 618 . [17972] Ogre examples are not working with Fedora 20 619 . [17983] Unable to build ViSP when an older version was previously 620 installed 621 . [18258] Stack overflow when using vpDot under Windows 622 . [16895] undefined reference to `vpGaussRand::gaussianDraw()' 623 . [18406] Infinite loop in `vpPose::poseRansac()' 624 . [18446] Bad KLT points detection in vpMbKtlTracker and vpMbEdgeKltTracker. 625 . [18451] Infinite loop in vpSimulatorViper850::stopMotion() 626 . [18452] Empty filename check in vpImageIo, vpVideoReader, vpVideoWriter is erroneous 627 . [18459] Error when initializing KLT related trackers but no key point is deteted. 628 . [18471] Bad fov computation in vpCameraParameters. 629 . [18550] Linking error with Homebrew install of OpenCV on MacOS 630 631---------------------------------------------- 632ViSP 2.9.0 (released February 18th, 2014) 633 - New features 634 . Introduction of a new template tracker using SSD (vpTemplateTrackerSSD 635 classes) or ZNCC (vpTemplateTrackerZNCC classes). These trackers are able 636 to estimate 2D transformations such as translation, SRT (scale, rotation 637 and translation), affine and homography. A video 638 illustrating this tracker capabilities is available on: 639 http://team.inria.fr/lagadic/visp/computer-vision.html 640 . In vpServo introduction of a new controller able to ensure continuous 641 sequencing 642 - Improvements 643 . Add missing const to member functions and arguments passed by reference. 644 . Introduction of a new option BUILD_WITH_STATIC_CRT that allows to set 645 /MT (default) or /MD msvc build option 646 . Compatibility with mingw, msvc11 (2012), msvc12 (2013) 647 and open solaris 11 648 . Trace and debug can now be enabled/disabled using CMake 649 ACTIVATE_DEBUG_TRACE option 650 . Fix errors detected by Covery Scan static code analyser 651 . Fix warnings detected with Gnu g++ -Weffc++ -Wshadow compiler flags 652 . Improve a lot of classes 653 - New examples 654 . New example that shows how to use the template tracker 655 . A lot of new sample code provided in tutorial folder 656 - New tutorials 657 . Installation from source on Linux Fedora 658 . Image filtering 659 . Template tracking 660 . Homography estimation from points 661 . Keypoint matching 662 . How to boost your visual servo control law 663 . Debug and trace printings 664 - Bug fixed 665 . [16263] libopencv_nonfree for Surf not detected by CMake. 666 . [16307] vpVideoReader::setLastFrameIndex() doesn't work. 667 . [16371] No convergence in SVDcmp 668 . [16465] FTBFS on armhf, ppc, s390: Errors while running CTest 669 . [16696] Build with OpenCV fails with msvc (/MT conflicts with /MD) 670 . [16781] Unable to open .pgm saved with Matlab imwrite 671 . [16823] Problems with camera calibration code 672 . [16889] Link error with CMU 1394 on win x64 arch 673 . [16895] undefined reference to `vpGaussRand::gaussianDraw()' 674 . [16919] Unable to link with OpenCV 2.4.8 under Windows 675 . [16924] MinGW: unable to build ViSP as a shared library 676 . [16928] vpVideoReader is unable to find the number of the first image 677 from a generic sequence of images 678---------------------------------------------- 679ViSP 2.8.0 (released July 24th, 2013) 680 - New features 681 . New camera calibration tool: example/camera_calibration.cpp 682 - Improvements 683 . vpV4l2Grabber and vp1394CMUGrabber does no more require a call to 684 open(I). 685 . In vp1394CMUGrabber new getters/setters for the framerate, shutter, gain. 686 It is now possible to change the settings in the acquisition loop. 687 . An exceptions is throwned when moving-edges are not initialized 688 (vpMeTracker, vpMeLine, vpMeEllipse) 689 . In model-based trackers, improve face visibility test using Ogre ray 690 tracing when faces are concave or not oriented counter clockwise. 691 . Still in model-based trackers, add functionalities to use clipping planes. 692 . ViSP can now be used with pkg-config 693 . New fonctions in vp1394TwoGrabber to turn auto shutter and auto gain 694 on. Also new getter for auto shutter and auto gain min/max values. 695 . Support Visual Studio 2012 (MSVC11) 696 . Introduce C++ visibility support as described here 697 http://gcc.gnu.org/wiki/Visibility 698 . Better support of image formats: *.tiff, *.jpeg, *.bmp, *.pbm, ... 699 - Examples 700 . Introduction of tutorials as minimalist line by line illustrated examples. 701 - Bug fixed 702 . [15404] Segfault in vpMbTracker derived classes around Coin SoDB::init() 703 and SoDB::finish() usage 704 . [15410] Robot wireframe simulator hangs 705 . [15422] Build issues with ffmpeg 1.0.1 third party 706 . [15475] Segfault in cv::Mat(BGR) to vpImage(grey) conversion 707 . [15522] Visibility tests issues in Model-Based Tracker using Ogre3D 708 . [15566] Bad mask orientation when using model-based tracker with 709 cylinders 710 . [15587] visp-config conflicts with multiarch support on Debian 711 . [15623] Possible ViSP-2.7.0 bugs detected by cppcheck 712 . [15644] crash with vpRobotWireFrameSimulator::initScene() 713 . [15679] vpDot and vpDot2 copy operator are incomplete 714 . [15680] Bad pixel to meter conversion in vpFeatureLuminance 715 . [15697] False positive exception in vpDisplay when vpDisplay::close() 716 is used 717 . [15730] ViSP-third-party.txt is installed in a wrong location 718 . [15896] Ogre Boost components miss Boost.Filesystem 719 . [15895] ViSP does not compile on FreeBSD (amd64 / i386) 720---------------------------------------------- 721ViSP 2.7.0 (released February 11th, 2013) 722 - New features 723 - New vpViper650 and vpRobotViper650 classes to interface Inria's new 724 Adept Viper s650 robot. 725 - New robot simulators; vpSimulatorCamera, vpSimulatorPioneer, 726 vpSimulatorPioneerPan 727 - New model-based tracker using KLT points: vpMbKltTracker. 728 - New hybrid model-based tracker using moving edges and KLT points: 729 vpMbEdgeKltTracker 730 - Improvements 731 - Add visp-config.1 man page. 732 - To respect Debian guidelines, remove duplicate ABI version. 733 Library name was set to libvisp.a or libvisp.so.2.7.0 rather than 734 libvisp-2.a or libvisp-2.so.2.7.0 735 - Fix typos detected by lintian 736 - Add support for multiarch. Multiarch is the ability for a library 737 to be installed concurrently for differents architectures (such as 738 i386 and amd64 for instance). In practice, the changes removes the 739 assumption made that libraries are installed in $INSTALL_PREFIX/lib and 740 binaries in $INSTALL_PREFIX/bin. 741 - In vp1394TwoGrabber that allows to grab images from firewire cameras, 742 cameras are powered off when the grabber is closed. 743 - MinGW is now supported but since MinGW currently doesn't support tls 744 __declspec(thread) with vpDisplayGDI it is possible to open only 745 one display. 746 - To better organise the code, robot simulators inherit from 747 vpRobotSimulator class. Introduction of a new vpRobotWireFrameSimulator 748 class as a base class of robot simulated using the wireframe display 749 capabilities. 750 - VRML loader (based on Coin3D) now reads transform nodes and hierarchical 751 scenes. 752 - If Ogre3D is used, model-based trackers use now RayCasting to improve 753 faces visibility test. 754 - Compatibility with iOS 6 and Fedora 18 755 - Examples 756 - New model-based tracker examples to show how to use the KLT and hybrid 757 tracker. See in example/tracking mbtEdgeKltTracking.cpp and 758 mbtKltTracking.cpp 759 - Bug fixed 760 - [14646] ViSP doesn't build on Windows with MinGW 761 - [14651] Build error arround vpMatrix::pseudoInverse() with OpenCV 2.1.0 762 - [14661] Build error when GDI is not detected or turned off 763 - [14818] Build error when only GTK display device is available 764 - [14862] Lagrange pose estimation cannot handle planar objects with 765 points in plane oX=d or oY=d 766 - [14863] vpPose::poseRansac() can fail during Lagrange pose estimation 767 - [14993] Segfault in mbtTracker example when only the cube is tracked 768 - [15049] In vpFeatureSegment, bad interaction matrix associated to 769 alpha angle 770 - [15110] Segfault in ffmpeg video reader 771 - [15291] Under Windows, the end of an image is not displayed 772 773---------------------------------------------- 774ViSP 2.6.2 (released July 15, 2012) 775 - New features 776 - New vp1394CMUGrabber class that allows firewire frame acquisition 777 under Windows using CMU 1394 Digital Camera 3rd party library. 778 Thanks to Lucas Lopes Lemos and Guillaume Laurent from FEMTO-ST, 779 AS2M departement, Besancon, France for this contribution. 780 - New vpPioneer, vpPioneerPan, vpRobotPioneer classes to control Pioneer 781 mobile robots using Aria 3rd party library. 782 - New vpFeatureSegment class to consider a segment as a visual 783 servoing feature. Normalized and non normalized features are considered. 784 - New vpFeatureMomentArea class to consider moment area as a visual 785 feature. 786 - Introduction of new functionalities in vpIoTools to parse text 787 config files 788 - Introduction of YARP to ViSP image converters in vpImageConvert 789 - New vpClient and vpServer classes for a multiclients TCP network. 790 - New vpPoseFeatures class for pose computation from any visual features. 791 To be able to consider other user defined features the compiler should 792 be compatible with C++ 11 standart. 793 - Improvements 794 - Introduce a new Denavit Hartenberg representation of the Biclops head 795 in vpBiclops. 796 - Compatibility with g++ 4.7 and OpenCV 2.3.1, 2.4.0, 2.4.1 797 - Remove warning detected with Visual C++ /Wall flag 798 - Use CMake native package finder for zlib, png, jpeg, coin3d, gtk2 and 799 doxygen 3rd party libraries detection. If detection fails, we use our 800 own package finder. 801 - Under Windows, changes done to add "d" suffix to the library name when 802 build in debug (libvisp-2d.lib and libvisp-2d.dll). Install stage 803 copy libvisp-2[d].lib in $CMAKE_INSTALL_PREFIX/lib and libvisp-2[d].dll 804 in $CMAKE_INSTALL_PREFIX/bin. 805 - Use OpenMP to optimize the execution of the moments computation. 806 - Possibility to compute the covariance matrix during pose estimation 807 (vpPose and vpPoseFeatures) and model-based tracking (vpMbTracker). 808 - All initClick() now have a non-blocking equivalent as initFromPoints(), 809 or initFromPose(), etc. 810 - Most of the classes that had a display() method now have the equivalent 811 display in static function (display's externalisation). 812 - Ransac is now improved for either pose computation or point matching. 813 - Examples 814 - New example plot3d.cpp to show how to plot 3D curves 815 - New example movePioneer.cpp to illustrate Pioneer velocity control. 816 - New example sonarPioneerReader.cpp to illustrate Pioneer sonar device 817 usage. 818 - New examples servoPioneerPoint2DDepth.cpp, 819 servoPioneerPoint2DDepthWithoutVpServo.cpp and 820 servoPioneerPanSegment3D.cpp 821 to show how to control the pioneer mobile robot by IBVS. 822 - New example grab1394CMU.cpp to show how to acquire images with 823 the CMU 1394 library. 824 - Bug fixed 825 - [13536] Division by zero in vpMeLine 826 - [13548] ViSP-2.6.1 produces several warnings with g++ 4.4.3, a const 827 is missing in vpMbtDistanceLine.h 828 - [13575] ViSP sporadic segmentation fault in vpMeLine 829 - [13625] trackMeNurbs example produce an assertion failed with MSVC: 830 "list iterator not incrementable" 831 - [13626] testXmlParser produre a Debug assertion failed with MSVC 832 - [13678] Cannot build all the examples if no display capability is 833 available 834 - [13679] GDI not detected on Windows 7 (64 bit) with Visual C++ Express 835 2010 836 - [13689] Memory leaks in jpeg reader: vpImageIo::readJPEG() 837 - [13690] Memory leaks in NURBS tracker 838 - [13843] In vpPolygon, isInside() may produce a segfault and getArea() 839 or getCenter() give bad results 840 - [13850] visp-config.bat produces a non compatible msvc 2010 output 841 format 842 - [13955] vpBasicFeature::error() is not virtual 843 - [13963] Under Windows, vpDisplay::getClickUp() doesn't work 844 - [14081] Error in vpThetaUVector when angles are near 180 deg +/- epsilon 845 - [14082] Segmentation fault in model based tracking when tracking only 846 cylinders 847 - [14474] Fix race condition in vpXmlParser. 848 - [14481] testFeatureSegment can lead to an exception. 849 - [14587] Ogre media directory OGRE_MEDIA_DIR not set in Ubuntu 12.04 850 - [14588] vpConfig.h doesn't match with the install directory 851 852---------------------------------------------- 853ViSP 2.6.1 (released October 20th, 2011) 854 - New features 855 - Introduction of Lapack support used for the SVD decomposition in vpMatrix 856 - Introduction of vpAROgre that enables augmented reality applications 857 based on Ogre 3D. Some examples are provided in examples/ogre-simulator 858 - Add cylinder's tracking in the model-based tracker. 859 - Reintroduce OpenCV 2.0.0 support lost in ViSP 2.6.0 860 - Introduction of vpKinect, a wrapper of libfreenect to support the 861 Kinect device 862 - Introduction of vpMoment and vpFeatureMoment classes to be able to 863 consider 2D image moments as visual feature in visual servoing 864 - Improvements 865 - For firewire cameras framegrabbing with vp1394TwoGrabber, it is now 866 possible to select a specific camera with its GUID by using setCamera() 867 - All the specific Xml parser (vpMbtXmlParser, vpXmlParserCamera) 868 inherit now from vpXmlParser 869 - Memory leaks suppression in vpWireFrameSimulator, vpMe, vpXmlParser, 870 vpMbtXmlParser, vpXmlParserCamera, vpMbTracker, vpFeatureLuminance, 871 vpRobotSimulator, vpFFMPEG, vpBSpline 872 - It is now possible to grab images from an usb webcam with the 873 vpV4l2Grabber class that is based on the video 4 linux 2 driver. 874 - When it was possible without braking the backward compatibilty 875 std::list was introduced instead of vpList. Some of the functions that 876 use vpList are now deprecated. 877 - Better detection of image or video file types when used in vpImageIo, 878 vpVideoReader and vpVideoWriter 879 - Build 880 - Set the build type by default to release 881 - Improve the usage of debug versus release third-party libraries 882 - Deprecated 883 - vpAdaptativeGain is deprecated. Use vpAdaptiveGain instead. 884 - vp1394Grabber is deprecated. Use vp1394TwoGrabber instead. 885 - Most of the methods that use vpList are deprecated. Use std::list instead 886 - vpTwistMatrix deprecated in ViSP-1.6.0 was removed. 887 - Examples: 888 - New example grabOpenCV-2.cpp to show how to use the OpenCV 889 cv::VideoCapture class. This example shows how to acquire an image 890 with cv::VideoCapture, how to transform this image in ViSP format 891 and how to display it. 892 - New examples to illustrate the usage of the Ogre simulator through 893 vpAROgre class. 894 - New example to illustrate the usage of the Kinect through 895 vpKinect class. 896 - New examples to illustrate the usage of 2D image moments. 897 - Bug fixed 898 - [11110] On OSX vpDisplayOpenCV does not display images since OpenCV 2.1.0 899 - [11147] Coin not installed, cannot read VRML files 900 - [11473] vpImageTools::flip() come out error when deal with vpImage 901 with vpRGBa type 902 - [11529] ViSP / OpenCV(2.2.0) incompatibility 903 - [11563] segfault in vpVideoReader 904 - [11617] selecting a subset of features is not taken into account in 905 vpServo 906 - [11916] Build issues with GTK2 on ubuntu 10.10 (fatal error: 907 gdk-pixbuf/gdk-pixbuf.h) 908 - [11924] svdNr fails on some matrices where svdGsl succeeds 909 - [11942] Build issues with GSL on OSX due to 32/64 bits architecture 910 - [11943] Build issues with libjpeg on OSX due to 32/64 bits architecture 911 - [11944] Build issues with libpng on OSX due to 32/64 bits architecture 912 - [11981] vpV4l2Grabber class based on video 4 linux 2 is not able to 913 grab images from an usb webcam 914 - [12329] Bad font problem when opening vpPlot example 915 - [12334] Under windows, link errors when some 3rd party libs are not 916 build in the same build configuration as ViSP 917 - [12499] servoSimu4Points: World point disposition does not match camera 918 - [12591] Seg fault when using setCleanPreviousImage() from 919 vpImageSimulator 920 - [12739] Problem initialising a vpMeEllipse 921 - [13014] Bug in vpCalibration::calibVVSMulti() jacobian 922 - [13015] vpFFMPEG compatibility issue with ffmpeg-0.8 release 923 - [13449] "LIBJPEG_BUILD_TEST - Failed" message in CMake for Visual 2010 924 - [13467] CreateWindow windows API does not correctly register class. 925 926---------------------------------------------- 927ViSP 2.6.0 (released September 23rd, 2010) 928 - License: 929 Change the open source license from QPL to GPL v2 930 - New Features 931 - Introduction of a new wireframe simulator. See vpWireFrameSimulator class. 932 - Introduction of a new model-based tracker that allows to track 933 an object based on its 3D model. See vpMbEdgeTracker class. 934 - New vpForceTwistMatrix class that allows to transfer a force/torque skew 935 from one frame to another. 936 - New vpVelocityTwistMatrix class that allows to transfer a velocity skew 937 from one frame to an other. The vpTwistMatrix class that does the same 938 work previously is from now deprecated. 939 - New vpRobotCycab class to communicate with the Cycab car-like mobile 940 robot at Inria. 941 - New generic vpRobotSimulator class to create robot simulators. 942 - New vpSimulatorViper850 class which simulates the viper850 robot. 943 - New vpSimulatorAfma6 class which simulates the Afma 6dof robot. 944 - New vpPlanarObjectDetector class to detect a planar surface based on 945 the Ferns Classifier. 946 - New vpSickLDMRS class, a UNIX driver to get measures from a Sick LD-MRS 947 laser scanner. 948 - New vpPlot class that was recoded to suppress the XPlotter dependency. 949 This class aims real time drawing of 2D or 3D graphics under Linux, OSX 950 and Windows. 951 - Third party library dependencies 952 - OpenCV 1.1 and 2.0 are no more supported. ViSP requires at least 953 OpenCV 2.1. 954 - libplotter is no longer required. 955 - Itifg8 is no longer supported. 956 - Improvements 957 - Copy constructors were added to better support stl lists and vectors. 958 - In firewire framegrabbing using vp1394TwoGrabber based on libdc1394-2.x, 959 add possibility to change during the execution the shutter, the gain, the 960 brightness, ... (see documentation for more details) 961 . new setIsoTransmissionSpeed(), setAutoShutter() methods 962 - In vpThetaUVector addition of &operator=() method to initialise all the 963 angles to the same value 964 - In vpHomogeneousMatrix addition of 965 . eye() method to set the transformation as identity 966 . extract(vpThetaUVector &) to extract the rotation as a Theta U vector 967 - In vpRobotViper850 add openGripper() and closeGripper() functions to 968 control the Schunk two fingers electric gripper (available only at 969 Inria). 970 - In vpRotationVector and vpTranslationVector introduction of set() 971 method that allows initialization from 3 doubles 972 - Documentation improvements 973 - Deprecated 974 . Some deprecated classes were removed: vpItifg8Grabber, 975 vpEulerVector, vpSubPixel, vpRA 976 . Deprecated functions since ViSP 2.4.4 where also removed 977 - Examples: 978 - New example calibrateTsai.cpp to show how to use the vpCalibration 979 class to estimate the hand to eye transformation. 980 - New examples to illustrate the usage of the new wire-frame simulators 981 - Bug fixed 982 - [9476] Memory leak in vpImageIo::readPNG() functions. 983 - [9505] Problem with the DirectShow grabber : can't be initialised. 984 - [9516] Problem in the getValue methods in the vpImage class. 985 - [9746] The displayPoint method of the vpDisplayOpenCV class doesn't work. 986 - [10472] Bug in the visual features: can't select the good feature. 987 - [10647] Delay in displaying image overlays 988 - [10687] The GDI display is not detected with Visual Studio 2010 989 - [10696] [CMake] VISP_DIR path conflict 990 - [10697] CMake standard output vars 991 - [10719] Compilation error in vpPlot 992 - [10723] Compilation error in vpFFMPEG.cpp 993 - [10748] PThread and Win32 Conflict 994 - [10928] vpPlane: rayIntersection from 2 points 995 - [10985] In vpPlot, 2D curve plotting starts with point (0,0) 996 and not with the first specified point. 997 998---------------------------------------------- 999ViSP 2.4.4 (released January 8th, 2010) 1000 - Features removed 1001 - vpMePath has been removed. 1002 1003---------------------------------------------- 1004ViSP 2.4.4-rc1 (released December 21th, 2009) 1005 - New Features 1006 - During CMake configuration, when a third-party library is detected, 1007 it is now possible to turn off the default usage of the library. 1008 - Warning during the build if deprecated functions are used 1009 - For the Irisa's Afma6 robot addition of a new vacuum tool (vpAfma6). 1010 - New vpImagePoint class for image point coordinates. 1011 - New vpPlot class that enables real time drawing of graphics under Unix. 1012 - Ability to use other colors than the predefined ones with the rewriting 1013 of the vpColor class and modifications in display functionalities. 1014 - New vpKalmanFilter and vpLinearKalmanFilterInstantiation classes with 1015 velocity and acceleration state models. 1016 - New vpFeatureTranslation: ctc* 1017 - New USE_COIN_SIMULATOR option during CMake configuration to enable or 1018 disable simulation capabilities based on Coin3D suite. 1019 - New vpViper, vpViper850 and vpRobotViper850 classes to provide an 1020 interface for Inria's Adept Viper 850 robot. 1021 - New vpBSpline and vpNurbs classes to manipulate 2D BSpline and 1022 2D Nurbs (Non Uniform Rational BSpline). 1023 - New vpMeNurbs class to track object edges. 1024 - New vpFFMPEG class to interface the FFmpeg library. 1025 - New vpVideoReader and vpVideoWriter classes to manipulate easily the 1026 video files and the image sequences. 1027 - Improvements 1028 - In firewire framegrabbing using vp1394TwoGrabber based on libdc1394-2.x, 1029 bus reset can be switched off in the constructor. There are also 1030 improvements in the acquisition using acquire(vpImage<unsigned char> &I, 1031 ...) by removing the color coding format request and by support of the 1032 RAW8 and RAW16 video format. 1033 New dequeue() functions were also introduced to make possible to 1034 separate the ring buffer dequeuing and enqueuing. This behavior 1035 is for example useful when image processing needs to be introduced 1036 between the dequeuing and enqueuing stages. It may also useful 1037 to synchronise the image acquisition with an other sensor. 1038 New setPanControl() function was introduced to set the PAN register 1039 0x884 to control single or multiple image transmission from stereo 1040 vision cameras like the PointGrey Bumblebee. 1041 - vpDot2: The tracking is restarted in vpDot2::track() if a dot is found 1042 but is not valid. 1043 - In vpDisplay, new getKeyboardEvent() functionality to handle key 1044 events and new getPointerMotionEvent() functionality to handle mouse 1045 pointer motion event. 1046 - Optimization of the vpMatrix class. 1047 - Examples: 1048 - New examples in examples/servo-viper850 to show how to use the 1049 linear Kalman filter to compensate the tracking error due to the 1050 motion of a target. 1051 - New examples in examples/servo-viper850 to show how to use the 1052 secondary task to avoid joint limits. 1053 - New plotting example in example/tools/plot.cpp 1054 - In grab1394Two.cpp example, addition of [-r] new option to reset the bus. 1055 - New examples to show how to build a 3D visual servoing without using the 1056 vpServo and vpFeature classes: 1057 servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp 1058 and servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp 1059 - Bug fixed 1060 - [7638] Memory leak in all vpFeature... classes was reopened 1061 - [7888] vpV4l2Grabber cannot acquire an image from an analog camera 1062 on Ubuntu 8.04 Hardy Heron 1063 - [7994] vpMeLine : initialization problem for horizontal lines 1064 - [8001] Coin and SoQt are not detected during CMake configuration 1065 under Fedora 10 1066 - [8032] Link error whith GSL while compiling HelloWorld.cpp on OSX 1067 - [8225] Bug in the multiplication of a twist matrix (6x6) by a matrix (6xn) 1068 - [8248] Compilation error under Windows MSCV8 if deprecated functions 1069 are not build 1070 - [8249] Compilation error under Windows MSCV8 when building ViSP 1071 as a shared library (DLL) 1072 - [8257] Bug in vp1394TwoGrabber::resetBus() 1073 - [8259] Segfault in vpDisplayX 1074 - [8389] vpKltOpencv : Bug in the copy constructor 1075 - [8493] Problem to build ViSP as a dynamic library under windows 1076 (Visual C++) 1077 - [8495] Segmentation fault during the execution of the example 1078 grabDirectShow 1079 - [8831] Possible bug when extracting axis/angle from theta/u vector 1080---------------------------------------------- 1081ViSP 2.4.3 (released April 10th, 2009) 1082 - New Features 1083 - Add vpFeaturePointPolar corresponding the a 2D image point with 1084 polar coordinates visual feature. 1085 - Add vpFeatureTranslation for cto (camera to object translation feature) 1086 - Add vpDisplay::setWindowPosition() functionality 1087 - Bug fixed 1088 - [7281] Segfault when displaying a vpCylinder. 1089 - [7308] Rotation vector not initialized to zero by the default constructor 1090 - [7309] visp-config --cflags produces a bad output 1091 - [7342] Bug in vpRobotAfma6::setVelocity(vpRobot::CAMERA_FRAME, v) 1092 - [7494] Division by 0 in vpHomography 1093 - [7424] Coin3D version 3 not supported under Windows 1094 - [7613] vpSimulator::getInternalImage() function yields to an infinite 1095 loop. 1096 - [7607] vpDisplayGTK bad window positionning 1097 - [7638] Memory leak in all vpFeature... classes 1098 1099---------------------------------------------- 1100ViSP 2.4.3-rc2 (released January 29th, 2009) 1101 - Deprecated 1102 - Creation of a deprecated section in the online documentation that 1103 gives the list of classes or member function that are deprecated 1104 - vpOSXcfoxGrabber was removed, since the C+Fox third party library 1105 available at http://cfox.sourceforge.net/ was not updated since 2005. 1106 - vpIcCompGrabber was removed, since it uses a home made wrapper based 1107 on itifg-7.2.1 driver which is not maintained yet 1108 - Testing 1109 - Use of CDash insteed of Dart2. Dashboards are sent to 1110 http://cdash.irisa.fr/CDash/index.php?project=ViSP 1111 - Platform compatibility 1112 - Compatibility with g++ 4.3.0 coming with fedora 9 1113 - New Features 1114 - Add visp-config.bat under Windows to get the list of include dirs, 1115 library dirs and libraries ViSP depends on. This may help users to 1116 build a Visual Studio project from scratch and where ViSP is used as a 1117 third party project 1118 - vpFeatureThetaU: Add cRcd feature, with ThetaU corresponding to the 1119 rotation the camera has to achieve to move from current frame to the 1120 desired one. 1121 - vpOpenCVGrabber: New framegrabber based on OpenCV third party library 1122 (useful for USB cameras). 1123 - vp1394TwoGrabber: Get the timestamp associated to the grabbed image. 1124 - vpV4l2Grabber: Get the timestamp associated to the grabbed image. 1125 - vpRobotAfma6 and vpAfma6: Modifications to be compatible with the new 1126 low level Adept controller provided by Cerebellum Automation. 1127 - vpRobotAfma4 and vpAfma4: Modifications to be compatible with the new 1128 low level Adept controller provided by Cerebellum Automation. New 1129 vpServolens class to control the Servolens lens attached to the camera 1130 fixed on the Afma4 end-effector. 1131 - Examples: 1132 - New examples in example/manual described in ViSP guide under preparation. 1133 - example/servo-simu/servoSimu3DCamVelocity2.cpp 1134 - Documentation 1135 - Creation of a deprecated section. 1136 - Classes are now grouped in doxygen modules to help learning ViSP. 1137 - Introduction of new sample examples in the online documentation 1138 - Bug fixed 1139 - [5370] DirectShow and Visual Studio 9 2008 Express 1140 - [5371] Warnings on Visual Studio 9 2008 1141 - [5375] Compilation error in calibrate2dGrid.cpp 1142 - [5398] display cylinder 1143 - [5438] window sizes with Coin 1144 - [5496] Compilation error in example/framegrabber/grab1394.cpp 1145 - [5508] Bug in vpImageConvert::YUV420ToRGB 1146 - [5527] Bug in vpImageTools::changeLUT() 1147 - [5539] Unhandle exception with multi vpDisplayGDI / D3D instances 1148 - [5596] Multiplying a vpRotationMatrix with a vpColVector ? 1149 - [5642] warning in vphomographyvvs.cpp with Visual C++ 2003 .Net 1150 - [5993] vpImage BI 1151 - [6330] Segfault in vpSimulator with Coin + SoXt 1152 - [6336] DLT Homography on 4 points 1153 - [6484] Bug in vpCalibration::calibrationTsai for eye-to-hand calibration 1154 - [6590] vpDisplayGDI cannot handle numerous displays (windows) 1155 - [6619] Problem vpMeLine : compute of delta 1156 - [6743] Bug in vpDisplayOpenCV::displayRectangle() 1157 - [6744] Bug in vpDisplayOpenCV 1158 - [6962] vpMeLine : problem of tracking 1159 - [7034] vpMeLine : Bug when a strip is tracked 1160 - [7126] problem with vpMatrix::eigenValuesByLU() 1161 1162---------------------------------------------- 1163ViSP 2.4.2 (released March 27th, 2008) 1164 - New classes 1165 - vpCalibration : calibration toolkit for intrinsic and 1166 extrinsic parameters of perspective camera. 1167 - vpXmlParserCamera : Parser xml to read and save camera parameters 1168 from vpCameraParameters class. 1169 - vpHinkley : Hinkley's cumulative sum test computation. 1170 - vpMePath : Tracking of a white curve by using line and parabola 1171 tracker. 1172 - vpKeyboard : Gets a key from the keyboard without waiting for the 1173 enter key. 1174 - vpParallelPort : Parallel port management under unix. 1175 - vpRingLight : Irisa's ring light controller. 1176 - vpKltOpencv : Interface for the KLT (Kanade-Lucas-Tomasi) feature 1177 tracker implemented with opencv. 1178 - New Features 1179 - Bug fix and improvement 1180 - vpCameraParameters : support for radial distortion camera model. 1181 - vpAfma6 : Add a getCameraParameters functionnality 1182 - vpSimulator : either SoWin or SoQt or SoXt is needed to use 1183 vpSimulator class. 1184 - vpDot: setMaxDotSize(double percentage) replace 1185 setNbMaxPoint(double nb) to be less image size dependent. 1186 The maximal dot size is set by default to 0.25% (quarter image size). 1187 setGrayLevelPrecision(double grayLevelPrecision) has been 1188 added for a better management of gray dots detection. 1189 - vpDot2: 1190 Changes in searchDotsInArea() : 1191 The algorithm search now in the bounding boxes of the bad dots. 1192 Bug fixed : we could fall in an infinite loop. 1193 Split accuracy private variable into grayLevelPrecision and 1194 sizePrecision. The gray level min and max are well calculated for 1195 white and black dots. 1196 Add setEllipsoidShapePrecision() to turn on/off and modify the test 1197 related of the geometry of the shape 1198 - vpDisplayX : better management of endianness 1199 - vpDisplayGTK, vpDisplayGDI, vpDisplayD3D, vpDisplayX : 1200 To actually display drawings on the screen, a vpDisplay::flush(I) is 1201 needed. Use it with parsimony : it is time consuming. 1202 - vpDisplayGTK, vpDisplayGDI, vpDisplayD3D : 1203 The behavior of the following methods change to be similar 1204 to vpDisplayX: 1205 . getClick(..., button) : The button used to click is now an output 1206 . getClickUp(..., button) : The button used to click is now an output 1207 Moreover, in vpDisplayGDI, vpDisplayD3D middle button is now managed 1208 - vpDisplayGTK, vpDisplayGDI, vpDisplayD3D : 1209 The usage of display->init(vpImage, int, int); returned a 1210 segmentation fault : bug fixed 1211 - vpDisplayD3D : we couldn't re-use a display after the call of the 1212 function close(vpImage). We had a black image : bug fixed. 1213 - vpDisplay : changes in displayRectangle():an option parameter 1214 fill has been had to precise if the displayed rectangle is filled 1215 or not. 1216 - vpColor : Add orange color. 1217 - vpServo : To fix bug #3528 you should explicitly call vpServo::kill() 1218 in your programs. Otherwise an exception 1219 vpServoException::notKilledProperly is launched by 1220 vpServo::~vpServo() destructor. 1221 - vpMatrix : Change Infinity Norm and Euclidian Norm formula to match with 1222 the standard matrix norms definitions. 1223 Change determinant formula for 3x3 matrices to match with 1224 the standard determinant definition. 1225 - vpImageConvert : 1226 Add IplImage to vpImage and vpImage to IplImage conversion tool. 1227 Add MONO16 to grey (MONO8) conversion tool. 1228 - vp1394TwoGrabber : 1229 Supports libdc1394-2.0.0-rc7 and libdc1394-2.0.1 1230 MONO16 color coding is supported 1231 - Testing and examples: 1232 - example/calibration/calibrate2dGrid.cpp was added 1233 - example/tracking/trackKltOpencv.cpp was added 1234 - example/light/ringLight.cpp was added 1235 - example/tools/parallelPort.cpp was added 1236 - test/video-device/testClick.cpp was added 1237 - test/video-device/testVideoDevice.cpp was added 1238 - test/visual-feature/testFeature.cpp was added 1239 - test/image/testCreateSubImage.cpp was added 1240 - test/camera/testCameraParametersConversion.cpp was added 1241 - Documentation improvement 1242 - vpRobust::MEstimator() 1243 - vpRobotAfma6: example usage of getPosition() was updated 1244 - vpDisplayGDI is included in the doxygen documentation 1245 1246---------------------------------------------- 1247ViSP 2.4.1 (released May 16th, 2007) 1248 - New classes 1249 - vpRect class for rectangle manipulations, display 1250 - vpHistogram,vpHistogramPeak and vpHistogramValey classes to 1251 handle gray level image histogram 1252 - vpSubPixel for sub-pixel manipulations 1253 - vpMouseButton for mouse click identification 1254 - New Features 1255 - MinGW supported 1256 - ViSP as a third party library in an other project. 1257 It is now possible to use ViSP as a third party project without 1258 installing ViSP by make install. ViSP can now be used 1259 directly from the build dir, or from the install dir, or 1260 from a package (NSIS, ...) 1261 - vpRobotCamera It is now possible to add a sampling time so that 1262 the behavior of this simulated camera is quite realistic. This 1263 sampling time is set by default to 40 ms. 1264 - vpExponentialMap A sampling time was introduced. 1265 - Bug fix and improvement 1266 - vpImage: getWidth() and getHeight() replace getCols() and getRows() 1267 which are now obsolete. 1268 - More restrictive types in vpImage, vpDisplay..., and vp...Grabber 1269 classes: const are added, unsigned int replace int for pixel 1270 manipulations and image or display size. 1271 - In vpDisplay classes: 1272 . vpMouseButton::vpMouseButtonType was introduced to handle 1273 mouse clicks 1274 . vpColor::vpColorType was introduced to handle colors to display 1275 - Simulator functionality based on Coin usage is now available 1276 under windows. It allows the use of vpSimulator class under this 1277 platform. 1278 - Compatibility with Windows platform. 1279 - Reference documentation improvement 1280 - cfox and std namespace were removed. To use cout you need to call 1281 std::cout, std::endl, std::cin ... 1282 1283---------------------------------------------- 1284ViSP 2.4.0 (released February 6th, 2007) 1285 - New Feature 1286 - add new framegrabber interface for itifg8 driver from Coreco 1287 Imaging Technology (http://sourceforge.net/projects/itifg) 1288 Tested with AM-STD COMP framegrabber board on 2.4 and 2.6 1289 linux kernel (see vpItifg8Grabber). 1290 - add new framegrabber interface and test for firewire 1394 1291 cameras using libdc1394-2.x. Need a newer version than 1292 libdc1394-2.0.0-rc4. 1293 Tested with the svn version of libdc1394-2 and Marlin F033C and 1294 F131B cameras (see vp1394TwoGrabber). Format 7 is supported 1295 in vp1394TwoGrabber. 1296 vp1394Grabber will be obsolete soon. 1297 - Bug fix and improvement 1298 - tests and examples 1299 - Video For Linux Two grabber (see vpV4l2Grabber) 1300 - memory leaks suppression 1301 - works fully under windows 1302 - doxygen documentation 1303 1304---------------------------------------------- 1305ViSP 2.2.0 (released August 25th, 2006) 1306 - Build 1307 - To increase the code portability, especially under windows), 1308 all the build process is now based on CMake 1309 (see http://www.cmake.org). 1310 - Supported platforms: 1311 Linux, Mac OSX, SunOS: g++ 2.95.3, 2.96, 3.3.x, 3.4.x, 4.1.0) 1312 Windows: MSVC7 (2003.NET), MSVC8 (2005) 1313 - Suppression of autotools support (configure) 1314 - Allows shared library building (.so and .dll) 1315 - New Feature 1316 - add control for Traclabs biclops pan-tilt head 1317 - add control for Directed Perception ptu-46 pan-tilt head 1318 - add vpDisplayGTK display under Windows 1319 - add vpDirectShowGrabber framegrabber under Windows 1320 - add vpDisplayGDI display under windows 1321 - Bug fix and improvement 1322 - vp1394Grabber settings (format, mode, framerate, shutter, gain) 1323 - vpDot (Moment computation) 1324 - some fixes in vpDisplayGTK 1325 1326---------------------------------------------- 1327ViSP 2.1.1 (released January 6th, 2006) 1328 - New examples 1329 - create an example directory 1330 - add vpDotExample.cpp 1331 - add vpDot2Example.cpp 1332 - add vpPoseExample.cpp 1333 - add 2D0.5.VisualServoingSimulation.cpp 1334 - New Feature 1335 - add this ChangleLog file 1336 - add a vpDisplayGTK class with the GTK2+ window system 1337 - new member function in vpDisplay (_uv) 1338 - add function getInteractionMatrix() in vpGenericFeature 1339 - Specification modifications 1340 - change the vpDot and vpDot2 specifications 1341 - supress demo directory 1342 - Bug fix and improvement 1343 - add a runtime warning when vpGenericFeature is not correctly used 1344 - comment in english in vpDisplayX 1345 - suppress a trace in vpPoseVirtualVisualServoing.cpp 1346 - directory.mk : add -p option to mkdir 1347 - improve XP compatibility 1348 - in vp1394Grabber, latency and memory leaks suppression 1349 - WWW 1350 - add an image sequence to download on the www site cube.tar.gz 1351 1352 1353--------------------------------------- 1354ViSP 2.1.0 (released October, 24th 2005) 1355