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<?xml version="1.0"?>
<!DOCTYPE article PUBLIC "-//Norman Walsh//DTD DocBk XML V3.1.4//EN"
"file:///usr/share/xml/docbook/schema/dtd/4.4/docbookx.dtd">
<article>
<edit by="David Hilvert" in-year="2006"/>
<articleinfo xmlns:xi="http://www.w3.org/2001/XInclude">
<t>Change log</t>
<abstract>This article contains detailed change information for each release.</abstract>
</articleinfo>
<changelog>
<release version="3">
<packaging>
<i>Change 1</i>
<i>Change 2</i>
<i>Change 3</i>
</packaging>
</release>
</changelog>
<s><t>0.8.5 (Prerelease)</t>
<edit by="David Hilvert" in-year="2006"/>
<s><t>Documentation</t>
<ul><li>Migrate documentation to a modified DocBook format.
</li><li>Revise README for autotools build and installation.
</li><li>Add file 'TODO', containing a tentative list of future versions
and features.
</li><li>Add AUTHORS file, in accordance with the autotools packaging
standards.
</li><li>Revise Changelog name to autotools-recognized ChangeLog
</li><li> Add NEWS file containing summary announcement text, including mailing
list and Freshmeat announcements for versions through 0.8.4. This
file is required by autotools when not running in --foreign mode.
</li></ul>
</s>
<s>
<t>Configuration</t>
<ul><li>Add autotools-based configuration, build, and installation facilities,
replacing the earlier Makefile-based configuration and build process.
</li></ul>
</s>
<s><t>Command-line interface</t>
<ul><li>Modify command-line interface to accept certain scope operators, and
to increase uniformity of syntax.
</li></ul>
</s>
<s><t>Image constraints</t>
<ul><li>Add options --f{ex,crop} for frame-coordinate exclusion regions.
</li></ul>
</s>
<s>
<t>3D Rendering</t>
<ul><li>In d3::scene, always use filler spaces when --pc all is specified.
</li></ul>
</s>
<s>
<t>Source code organization</t>
<ul><li>Move input interface details, including option handling, messages,
and help information, to the ui/ subdirectory.
</li></ul>
</s>
</s>
<s>
<t>
0.8.4 2006-May-14
</t>
<edit by="David Hilvert" in-year="2006"/>
<edit by="David Hilvert" in-year="2005"/>
<s>
<t>Packaging</t>
<ul><li>Fix build error noted by Gregory Maxwell and re-tag version.
</li></ul>
</s>
<s>
<t>Documentation</t>
<ul><li>Add dates to the Changelog, using dates in comments in the download
page on the website for versions prior to 0.8.0, and using dates from
the darcs repository for versions 0.8.0 and later.
</li></ul>
</s>
<s>
<t>Command-line interface</t>
<ul><li>Add fine-grain UI updates for 3D operations when using ui=tty. Reduce
tty UI status update frequency to at most once per second.
</li></ul>
</s>
<s>
<t>3D Rendering</t>
<ul><li>Add support for synthetic focus via the --focus option, including
focus with horizontal and vertical tilt. Adding simulated focus
effects, including tilted and swung focal planes, was suggested by
Gregory Maxwell.
</li><li>Add support for filtering 3D output with --3d-filter. This
is now the default behavior. Add an option --3d-chain for selecting
the filter chain used for 3D output. (See --hl and --hq for details.)
</li><li>Interpolate to generate smooth 3D depth output.
</li></ul>
</s>
<s>
<t>3D Models</t>
<ul><li>Modify --3dpx to affect scene geometry rather than rendered
pixels. In certain cases, this change should allow removal of objects
close to the camera, hence revealing objects further away.
</li><li>Add decimation options --di-upper, --di-lower, and --do-try for
reducing the complexity of 3D scene geometry, hence reducing the
number of operations required for occupancy updating.
</li><li>Fix dimension comparison bug in d3::space::traverse::get_next_split().
</li><li>Implement an experimental approach to 3D subspace candidate selection;
this seems to perform poorly in most cases due to parallax effects.
See the source code for details. (Option --subspace-traverse)
</li><li>Add adaptive weight decomposition to 3D occupancy algorithms.
</li><li>Move low-level code concerning scale and level-of-detail from
d3::scene to d3::pt.
</li><li>Move code concerning the nature of space from d3::scene to
d3::space.
</li><li>Remove older 3D rendering code.
</li></ul>
</s>
<s>
<t>Scripts</t>
<ul><li>Add a script 'transform' for applying an inverse projective
transformation. Recalculation of transformations was suggested by Rob
Stewart (ALE mailing list message, 2005-Dec-28).
</li></ul>
</s>
<s>
<t>Undocumented options</t>
<ul><li>Add to the Makefile a HASH_MAP option that can be used to assign the
3D spatial info structure a hash map type instead of the standard STL
map type. As this is likely to break things, it is currently
undocumented. HASH_MAP=GNU seems to compile with g++ 4.0.x but
has not otherwise been tested.
</li></ul>
</s>
</s>
<s>
<t>0.8.3 2005-Dec-23</t>
<edit by="David Hilvert" in-year="2005"/>
<s>
<t>Rendering</t>
<ul><li>Add an option --def-nn to allow definition of pixels in output images
to take values from neighboring pixels within a certain radius, in
cases where they would not otherwise be defined.
</li></ul>
</s>
<s>
<t>3D Models</t>
<s>
<t>Stereoscopy</t>
<ul><li>Add option --pc to specify which pairwise comparisons should be
performed.
</li><li>Add option --pa to set the number of point candidates accepted
for each pair of cameras (pairwise ambiguity). The default
of 3 preserves existing default behavior.
</li><li>Add option --tcem for scoring point candidates by third-camera
views. The default of 0 preserves existing default behavior.
</li></ul>
</s>
<s>
<t>Geometry</t>
<ul><li>Add option --3dpx to specify 3D regions to exclude during final
rendering, using a single depth for each pixel in each frame of
rendered output. (Evaluates at the depth used in depth-rendering.)
</li><li>Add --et option to specify encounter thresholds.
</li><li>Modify representation of 3D subspaces so that refined subspaces
are roughly cubical, and to allow refinements at multiple
resolutions.
</li><li>Clean up d3::scene to remove triangle-mesh code.
</li></ul>
</s>
<s>
<t>Occupancy</t>
<ul><li>Fix bugs in 3D color and occupancy updating caused by bounding
box miscalculation.
</li><li>Add option --oui for determining occupancy update iterations.
The new default is 10, halving the previous default of 20.
</li></ul>
</s>
</s>
</s>
<s>
<t>0.8.2 2005-Nov-22</t>
<edit by="David Hilvert" in-year="2005"/>
<s>
<t>Image files</t>
<ul><li>Add magical file 'dump:' for listing color values numerically
to stderr.
</li></ul>
</s>
<s>
<t>3D Models</t>
<ul><li>Transition from a subdivisible triangle model to a subdivisible
space model, using a rudimentary implementation of Hans Moravec's
notion of occupancy.
</li><li>Add support for view and depth output from arbitrary cameras.
</li><li>Add clipping plane options for 3D modeling.
</li></ul>
</s>
<s>
<t>Control points</t>
<ul><li>Fix various bugs in control-point alignment reported by Gregory
Maxwell.
</li></ul>
</s>
</s>
<s>
<t>0.8.1 2005-May-6</t>
<edit by="David Hilvert" in-year="2005"/>
<s>
<t>Build</t>
<ul><li>Fix enumerator compile bugs noted by Gregory Maxwell and Tom Holroyd
to cause compilation failure under GCC 3.4.
</li></ul>
</s>
<s>
<t>Defaults</t>
<ul><li>Modify --q1 to use median-value incremental rendering.
</li></ul>
</s>
<s>
<t>Rendering</t>
<ul><li>Add support for median-value incremental and Irani-Peleg rendering.
Using a statistic other than the mean was suggested by Scott Scriven
as a means of eliminating non-uniform artifacts. Using the median
seems to improve performance on Scott Scriven's example sequences, as
well as on the scaled output of fine:sinc*lanc for sparse inputs.
</li></ul>
</s>
<s>
<t>Exposure</t>
<ul><li>Add a color adjustment option --exp-mult=.
</li></ul>
</s>
<s>
<t>Control points</t>
<ul><li>Add support for using control points in 2D and 3D alignment, as well
as in 3D model construction. New options include '--gs points',
'--cpf-load=', '--cpp-upper=', '--cpp-lower=', '--va-upper=', and
'--st'.
</li></ul>
</s>
<s>
<t>Transformation data files</t>
<ul><li>Add average magnitude comments to transformation data file output.
</li></ul>
</s>
<s>
<t>3D Models</t>
<ul><li>For 3D scene reconstruction, use a new unified surface model in place
of the depth-based multi-model approach used in 0.8.0. The new model
is adjusted on the basis of edge, angle, and color measures.
</li></ul>
</s>
<s>
<t>Scripts</t>
<ul><li>Move ale-psf-calibrate to a new scripts directory.
</li></ul>
</s>
</s>
<s>
<t>0.8.0 2005-Jan-12</t>
<edit by="David Hilvert" in-year="2005"/>
<edit by="David Hilvert" in-year="2004"/>
<s>
<t>Command-line interface</t>
<ul><li>Add user interface options --ui=stream and --ui=tty. The latter
includes more detailed status output when terminal width information
can be obtained (esp. when IOCTL=1 is set at compile time), and is the
new default.
</li></ul>
</s>
<s>
<t>Exclusion regions</t>
<ul><li>Add --crop argument, which excludes the spatial complement of a
specified area over a specified set of frames. Gregory Maxwell notes
several advantages of internal over external crops, including
preserving knowledge of position in the uncropped frame, which among
other benefits allows natural handling of Bayer patterns.
</li><li>Modify rx_parameters in d2/render.h to use the ale_pos data type
instead of int. This should allow exclusion regions to be calculated
more accurately.
</li></ul>
</s>
<s>
<t>Image files</t>
<ul><li>Add support for PPM with extended attributes (EPPM). Attributes
handled specially include black level, shutter speed, aperture, and
ISO (or gain).
</li></ul>
</s>
<s>
<t>Exposure</t>
<ul><li>Add a flag --exp-meta-only which causes tonal registration to be
performed only on the basis of exposure metadata (e.g., data encoded
as EPPM extended attributes). This approach was suggested by Gregory
Maxwell.
</li><li>Fix an index variable bug in d2::image_bayer_ale_real::trigger().
</li><li>Modify d2::exposure one-sided certainty so that the 'one-sided'
condition only applies to bright (>50%) areas. Applying it to dark
areas has no clear benefit, and an experiment by Gregory Maxwell
demonstrates that doing so can exacerbate noise.
</li></ul>
</s>
<s>
<t>Alignment</t>
<ul><li>Modify euclidean alignment so that perturb-upper and perturb-lower
apply to rotational arclength.
</li><li>Modify d2::align to use unscaled input images when the scale factor
is larger than 1.0, or when a scaled_filter interpolant is being used.
</li><li>Modify d2::align::set_exposure_ratio() so that alignment
weights and certainty values are taken into consideration.
</li><li>Add a --cw option to weight alignment error by certainty values,
as suggested by Gregory Maxwell. This allows the contributions of
pixels at maxval to be diminished, which can increase alignment
success in certain cases.
</li></ul>
</s>
<s>
<t>Rendering</t>
<s>
<t>Scale</t>
<ul><li>Modify d2::image::scale() to allow scale factors in the interval
(0, 1), and modify the command-line interface and help text to reflect
this change. --scale= now accepts all finite positive values.
</li></ul>
</s>
<s>
<t>Incremental</t>
<ul><li>Replace functions d2::incremental::{increase,decrease}_extents()
with new functions that take exclusion regions into account. The new
functions should also fix a boundary-calculation bug reported by
Gregory Maxwell.
</li></ul>
</s>
<s>
<t>Irani-Peleg</t>
<ul><li>Set image offsets in d2/render/combine.h. This allows Irani-Peleg
rendering to work with --crop when the default rendering chain
includes more than one rendering invariant.
</li><li>Perform Irani-Peleg updating separately by channel instead of
using vector operations. This allows divide-by-zero and other
conditions to be localized to particular channels.
</li><li>Modify the Irani-Peleg renderer to use estimate-based certainty. This
seems to improve noise characteristics significantly.
</li><li>Modify d2::render::ipc::_ip_frame_correct() so that exposure
re-estimation uses a ratio of weighted sums instead of a weighted
average of ratios.
</li><li>Modify d2/render/ipc.h to handle exclusion regions more effectively.
</li></ul>
</s>
</s>
<s>
<t>Transformation data files</t>
<ul><li>Write the results of tonal registration as a comment in the
transformation data file.
</li></ul>
</s>
<s>
<t>3D Models</t>
<ul><li>Add experimental cost calculation routines to d3/scene.h.
</li></ul>
</s>
<s>
<t>Source code organization</t>
<ul><li>Move certain user interface elements to the source subdirectory ui/.
</li></ul>
</s>
</s>
<s>
<t>0.7.3 2004-Dec-1</t>
<edit by="David Hilvert" in-year="2004"/>
<s>
<t>3D Models</t>
o Add incremental 3D reconstruction output.
</s>
<s>
<t>Command-line interface</t>
o Remove the reference to a non-existent web page in
unsupported::fornow().
</s>
<s>
<t>Rendering</t>
<remark>Should the --bayer option be moved to another section?</remark>
o Allow device-specific bayer patterns to be overridden by the --bayer
option.
</s>
<s>
<t>3D Models</t>
o Add an option for explicitly setting the camera view angle. Make the
default view angle 43.7 degrees.
</s>
o Implement optimizations that reduce the memory footprint when 3D
options are used.
o Modify the 3D cost reduction algorithm. The new algorithm seems to
offer better results than the old in cases tested thus far, and does
not require that spatial extension be enabled.
o Add support for the Canon 300D with a 50mm f/1.4 lens (specifying view
angle), as well as experimental support for the 50mm f/1.4 lens at 1.4
(specifying a linear PSF). Also add support for 50mm f/1.8 and 85mm
f/1.8 lenses, specifying view angles as specified in the chart at
http://www.acapixus.dk/photography/angle_of_view.htm
o Don't output final data when --psf-match is specified. Doing so
would be useless anyway, and apparently causes a segfault.
o For cases where --psf-match is specified, modify the exposure settings
for the final input image (i.e., reference image) so that default
exposure is used, and modify the bayer pattern settings so that no
bayer pattern is used. (The first of these modifications requires
changes in the way that the array of input exposures is stored.)
o Optionally (when OPTIMIZATIONS == 1) use the output of the default
rendering chain directly as the Irani-Peleg initial approximation,
instead of copying it.
o Add support for PSF convolution and scalar multiplication.
o Move all PSF parsing logic to a new file: d2/render/psf/psf_parse.h
o Modify help argument processing so that several help arguments can be
specified at a time. Change the usage text to reflect this.
o Fix concatenated help output; outputs from all help options are now
represented. (3D help had been omitted in 0.7.2.)
o Add a check to ensure that at most one --q* option is specified.
The issue of multiple --q* options being specified was raised on the
ALE mailing list by Viktors Rotanovs. As there is currently no
support for this, generating an error message is appropriate.
</s>
</article>