RELEASE_NOTES.TXT

/** @file RELEASE_NOTES.TXT
This file gives a high level overview of recent changes.

Revision 2.0.3

  - Made brick::numeric::getMeanAndVariance() work with sequences of
    length 1 and 2.
  - Added member and non-member functions to
    brick::computerVision::CameraIntrinsicsPlumbBob and
    brick::computerVision::CameraIntrinsicsRational that extend parameter
    access, as well as forward and reverse projection with and without
    derivatives.
  - Added brick::numeric::NumericTraits::epsilon() static member function
    and made isIntegral() static as well.
  - Added NumericTraits specializations for DifferentiableScalar, and
    extended brick::geometry::findIntersect(Ray3D const&, Ray3D const&, ...)
    to work with user-defined types. 

Revision 2.0.2

  - CameraIntrinsics::reverseProject() now takes optional arguments
    describing the camera field of view. This helps with finding
    the right reverse projection when using nonmonotonic distortion
    models.
    
Revision 2.0.1

  WARNING: This update may break existing code.  It removes a
  a little-used part of the brick::utilities::OptionParser API.
  
  - Added brick::utilities::getAbsolutePath().
  - Allowed users to control the focal length of the rectified cameras
    in brick::computerVision::stereoRectify().
  - Significant updates to OptionParser to allow clearer messages.
  
Revision 2.0.0

  - Major change: we now use CMake for the build system, and all
    libraries are now packaged together, rather than being distributed
    in separate tarballs.
  - utilities::OptionParser now lets you supply upper and lower bounds
    on the values of numeric command line arguments.
  - Other minor bugfixes and updates.

As the libraries were previously distributed separately, historical
release notes are separated by library.  These separate release notes
are reproduced below.

@section brickCommon

Revision 1.6

  WARNING: this update may break existing code.  We now use C++11 to
  build.  In addition, we have changed the interface of
  brick::common::Expect.  See below for more information.

- Made static data members of brick::common::Expect into static member
  functions to avoid the static initialization order fiasco.
  Code that previously looked like this:
    common::Expect::FormatFlag flags = common::Expect::SkipWhitespace;
  must be changed to look like this:
    common::Expect::FormatFlag flags = common::Expect::SkipWhitespace();
- Added a first whack at a CMake build system.

Revision 1.5
- Switched to using C++11 for builds.
- Added new ComplexNumber class template to allow complex numbers based
  on types not supported by std::complex.
- Added a few more constants.
- Added missing header versionNumber.hh to the release tarball.

Revision 1.4

- Fixed a compilation error due to missing include directive in 
  compileTimestamp.hh.
- Updated splitFraction() function template to tolerate a wider range
  of types.
- Added rough first whack at a version number class to handle "X.Y.Z"
  style version numbers.

Revision 1.3

- Increased the precision of constants in namespace
  brick::common::constants.

Revision 1.2

- Added shorter names for integral sized types (Int8, UInt8, etc.).
- Fixed an issue with switchByteOrder() that led to incorrect results when
  the beginning and ending byte orders were the same, and the result was
  _not_ being generated in-place.

Revision 1.1

- Minor update: added arcTangent2() function template.

Revision 1.0

- Created brick::common by adapting dlr::common version 2.3a3.

@section brickComputerVision

Revision 1.10

WARNING: There are lots of changes in this release, and they may break
existing code.

- Updated code to reflect changes in other libraries, for example
  we now use the new common::Expect interface updates.
- Added a dependence on libpng++.  This greatly simplifies out image
  IO code.
- Sped up KeypointSelectorBullseye (more to do here).
- Updated and extended connectedComponents() function template.
- Moved DisjointSet into namespace brick::computerVision, and made it
  non-copyable.
- Added an implementation of the adaptive text thresholding algorithm of
  Sauvola and Pietikainen.
- Other minor bugfixes and enhancements.

Revision 1.9

- Switched over to building with C++11.
- Updated calibration code to use newly added template parameters in
  optimization classes.
- Added ImagePyramidBinomial class template and made minor updates to
  the nearly-obselete ImagePyramid class template.
- Other minor updates and added features.

Revision 1.8

- Added several new colorspace conversions.
  WARNING: Colorspace conversion between type of different integer precision
  now rescales values to reflect the dynamic range of the pixel type, and 
  output of colorspace conversion from RGB_FLOAT32 to GRAY8 is now scaled
  differently.
- Improved to the robustness of KeypointSelectorBullseye.
- Added routines for reading and writing 16-bit PNG images.

Revision 1.7

- Added routines for reading and writing color PNG images.
- Added beginIteration() member function to RansacProblem class. 

  WARNING: This change will break any customer code that uses 
           RansacClassInterface, but does not derive from RansacProblem.
           If this applies to your code, simple add an empty member 
           function, void beginIteration(size_t) to your problem class.

Revision 1.6

- Refactored CameraIntrinsics class heirarchy.
- Added new class CameraIntrinsicsRational.
- Minor updates to KeypointSelectorBullseye.
- Other minor cleanup.

Revision 1.5

- Added function estimateProjectedAreaAndCentroid() to facilitate
  camera calibration with circular fiducials.
- Added function writePPM16() and added a sanity check to writePPM8().
- Minor cleanup.

Revision 1.4

- Minor feature additions to the RANSAC class interface and camera 
  calibration functions.
- Many updates to KeypointSelectorBullseye class and KeypointBullseye classes.
- Corrected a bounds error in getHistogram().

Revision 1.3

- Updated build files.
- Added very slow KeypointSelectorBulleye class (to be improved later).
- Fixed failing KeypointMatcherFast unit test.
- Fixed failing KeypointSelectorHarris unit test.
- Corrected compile issue in connectedComponents_impl.hh.
- Other minor changes and updates.

Revision 1.2

- Added implementations of three-point, five-point, and eight-point algorithms.
- Added FloatType template parameter to camera intrinsics classes.
- Added a weighted version of registerPoints3D().
- Added routines for stereo rectification and camera calibration.
- Added Felzenswalb's superpixels segmentation, and a disjoint set
  implementation.
- Added KdTree implementation.
- Added ImageWarper class to allow transforming images.
- Added basic morphological and image processing operations.
- Added extended Kalman filter implementation,
- Added very basic deformable models class (NaiveSnake).
- Made some updates to image fltering code.
- Added Harris corner detector implementation.
- Added (still incomplete) ICP implementation.
- A few other minor bugfixes and updates.

Revision 1.1

- Added classes and functions relating to camera intrinsics from
  dlrComputerVision version 2.4b3.  Many more still to come.

Revision 1.0

- Created brick::computerVision by adapting dlrComputerVision version 2.4b3.

@section brickGeometry

Revision 1.6

- Added first whack at a CMake build system.

Revision 1.5

- Switched over to building with C++11.
- Added missing const qualifiers in Bullseye2D.
- Added a new constructor for LineSegment2D.

Revision 1.4

- Added Triangle2D and Circle3D class templates, along with some
  related utility functions.
- A few minor cleanup items.

Revision 1.3

- Added missing const qualifier in Plane3D:findDistance().
- Corrected an issue in Ellipse2D and Bullseye2D estimation.

Revision 1.2

- Bugfix to allow building on OS X.

Revision 1.1

- Updated build files.
- Added Ellipse2D class template.
- Added Bullseye2D class template.

Revision 1.0

- Created brick::geometry by adapting dlrGeometry version 0.3.

@section brickLinearAlgebra

Revision 1.3
  WARNING: this update may break existing code.  We now use C++11 to
  build.

- Switched over to using C++11 for development builds.
- Added first whack at a CMake build system.
- Updated code that uses std::complex for compatibility with C++11.

Revision 1.2
- Updated code to build with C++11.

Revision 1.1

- Updated configure scripts to remove dependence on gfortran.
- Fixed bug in determinant().

Revision 1.0

- Created brick::linearAlgebra by adapting dlrLinearAlgebra version 2.2.

@section brickNumeric

Revision 1.9

  WARNING: this update may break existing code.  We now use C++11 to
  build.  In addition, we have changed the interface of
  brick::common::Expect.  See below for more information.

- Switched over to using C++11.
- Updated templatization of Quaternion and rotation conversion functions to
  work with user-defined types.
- Added template argument FloatType to BilinearInterpolator.
- Other minor updates and fixes.

Revision 1.8

WARNING: This update breaks compatibility with previous versions of
         solveQuadratic(), solveCubic(), and solveQuartic().
WARNING: This update breaks compatibility with previous versions of
         BSpline2D.

- Updated code to build with C++11.
- Changed solveQuadratic(), solveCubic(), and solveQuartic() to use the
  new class template brick::common::ComplexNumber.
- Added math functions to the brick::numeric namespace, superseding
  their counterparts in brick::common.
- Significant updates to BSpline2D class template.
- Corrected compile errors and warnings in SubArray1D, SubArray2D,
  DerivativeRidders, quaternionToAngleAxis().

Revision 1.7

- Added new DifferentiableScalar class to help with computing derivatives 
  of functions.
- Corrected compile errors in Polynomial class.
- Added new ScatteredDataInterpolator2D class template, and fleshed out 
  implementation of BSpline2D class.
- Other minor updates, including swapping template parameter order in rms().

Revision 1.6

- Added Transform3D::rotate(Vector3D const&) member function.

Revision 1.5

- Corrected typo in Transform3D stream output.
- Added Quaternion::getMagnitude() member function.

Revision 1.4

- Corrected a typo in transform3DToRodrigues().
- Corrected use of operator new in Array?D implementation.  This removes a 
  compiler warning under recent versions of g++, and may have broader 
  implications as compiler implementations change.

Revision 1.3

- Added missing namespace qualifiers, allowing tests to build under recent 
  versions of g++.
- Fixed several multiply-defined symbol errors.
- Other minor updates and bugfixes.

Revision 1.2

- Fixed compile issues in transform3DTo2D.hh and rotations_impl.hh.
- Added TypeConverter class to support generic conversion between numeric types.
- Other minor updates and features.
- Added, but disabled, a unit test for nonperiodic B-Spline, based on
  feedback from Eric Kratzer.  This test exercises an issue with the class
  that has not yet been fixed.

Revision 1.1

- Added all remaining symbols from dlrNumeric.

Revision 1.0

- Created brick::numeric by adapting dlrNumeric version 2.3a4.
  WARNING: Several types (Vector2D, Vector3D, Transform2D, ...)
           now have additional template parameters.  This will
           make porting dlrNumeric code a little annoying.

@section brickOptimization

Revision 1.5

- Added first whack at a CMake build system.

Revision 1.4

WARNING: This code will now build only under C++11.

- Added template arguments to OptimizerLM, OptimizerLineSearch,
  and OptimizerNelderMead.
- Fixed minor build issues.

Revision 1.3

- Updates to build with g++-4.7.

Revision 1.2

- Updates to build files.
- Minor tweaks to comments, etc.

Revision 1.1

- Minor fixes to OptimizerBFGS.  If it has been compiling for you, you do
  not need to upgrade.

Revision 1.0

- Created brick::optimization by adapting dlrOptimization version 2.1.

@section brickPixelGraphics

Revision 0.2

- Added first whack at a CMake build system.

Revision 0.1

- Created library.

@section brickPortability

Revision 1.2

  WARNING: this update now uses C++11 to build, which may break existing code.

- Added a first whack at a CMake build system.
- Switched over to using C++11.

Revision 1.1

- Updated portability/standardC.hh to include unistd.h, allowing lockFile.cc 
  to compile under gcc 4.7.2.

Revision 1.0

- Created brick::portability by adapting dlrPortability version 2.2.

@section brickRandom

Revision 1.3
  WARNING: this update may break existing code.  We now use C++11 to
  build.

- Switched over to using C++11 for development builds.
- Added first whack at a CMake build system.

Revision 1.1

- Updated build files.

Revision 1.0

- Created brick::random by adapting dlrRandom version 2.2.

@section brickSparse

Revision 0.1

- Created library.

@section brickTest

Revision 1.2

- Fixed a compile error when using recent g++.

Revision 1.1

- Updated build files.

Revision 1.0

- Created brick::test by adapting dlrTest version 2.1.

@section brickUtilities

Revision 1.5
- Added a first whack at a CMake build system.

Revision 1.4
- Switched over to compiling with C++11.
- Fixed a few compiler warnings and minor build issues.

Revision 1.3

- Added support in OptionParser for non-string default option values.

Revision 1.2

- Updates to build files.
- Minor change to LockFile source allows building under recent g++ versions.

Revision 1.1

- Updated timeUtilitiesTest.cc to avoid failing due to register precision
  issues.
- Minor change to LockFile source allows building under recent g++ versions.

Revision 1.0

- Created brick::utilities by adapting dlrUtilities version 2.3.

**/