NEWS

*** RELEASE 2.3.0, 19 November, 2013 ***

TOOLS

  - Added pc_align, a tool for aligning point clouds, using the
    libpointmacher library
    (https://github.com/ethz-asl/libpointmatcher). Sparse and dense
    point clouds are supported, as well as DEMs. Two ICP methods are
    supported, point-to-plane and point-to-point. Memory and processing
    usage are proportional to the desired number of input points
    to use rather than to the overall input data sizes.

  - Added lronac2mosaic.py, a tool for merging the LE and RE images
    from the LRONAC camera into a single map-projected image.  The
    output images can be fed into the stereo tool to generate DEMs.
  
  - rpc_maprpoject and orthoproject are combined into a single tool
    for projecting a camera image onto a DEM for any camera model
    supported by Stereo Pipeline. The old orthoproject is kept for 
    backward compatibility for a while.

GENERAL 


  - Stereo Pipline (almost) daily and fully verfied builds for all
    platforms are available for the adventurous user
    (http://byss.arc.nasa.gov/stereopipeline/daily_build/). When
    requesting support, please provide the output of "stereo --version".

  - The size of Stereo Pipeline output data has been reduced, by up to
    40%, particularly point clouds and DEMs are between 30% to 70%
    smaller.  Better encoding is used, output data is rounded (up to 1
    mm), and point clouds are offset and saved as float instead of
    double.
    
  - Timeout option added for stereo correlation, preventing
    unreasonably long correlation times for certain image tiles.

  - Subpixel mosaicing in dg_mosaic uses bilinear interpolation
    instead of nearest neighbor avoiding artifacts in certain
    situations.

  - dg_mosaic can generate a combined RPC model in addition to the
    combined DG model. It accepts flags for specifying input and 
    output nodata values.

  - point2dem with the --fsaa option for reducing aliasing at
    low-resolution DEM generation has been improved as to remove the
    erosion of of valid data close to no-data values.

  - Bugfixes for parallel_stereo, point2dem, etc. 

*** RELEASE 2.2.2, 17 MAY 2013 ***
    (incremented from 2.2.1 after one more bugfix)

TOOLS
 - stereo_mpi renamed to parallel_stereo and made to work
   on any machines with shared storage, rather than just on 
   supercomputers using Intel's MPI library. Bug fixes for
   homography and affine epipolar alignment modes, etc.

 - Bugfix for dem_geoid path to geoids, more robust datum
   identification.

*** RELEASE 2.2.0, 6 MAY 2013 ***

GENERAL
 - ISIS headers removed from IsisIO's headers.
 - Removed unneeded mutex inside inpaint algorithm.
 - Interest point matching and description are parallel now.
 - Stereo pprc uses separable convolution for anti-aliasing.
 - IsisIO made compliant with ISIS 3.4.3's API.
 - Blob consolidation (for inpainting) is now parallel.
 - Yamaha RMAX code dropped.

SESSIONS
 - RPC mode can now read Astrium data.
 - DG added additional safety checks for XML values.
 - DG, ISIS, and RPC now have affineepipolar alignment option.
 - All sessions had their API changed. We now use Transform objects
   instead of LUTs to reverse map projections and alignments.

TOOLS
 - Added dem_geoid, dg_mosaic, and stereo_mpi.
 - Added new interest point matching method to stereo.
 - Added new DEM seed mode for stereo.
 - Point2dem sped up by reducing over rasterization of triangles.
 - Stereo_corr has local_homography option. Homography transform
   applied per tile.
 - Fix point2dem where for certain projections we were setting K=0.
 - Stereo can now operate on terminal only arguments without stereo.default.

*** RELEASE 2.1.0, 8 JANUARY 2013 ***

GENERAL
 - Added documentation for processing GeoEye, Digital Globe, and Dawn FC data.
 - Fixed implementation of internal RANSAC function.
 - DEMError has been renamed IntersectionErr. 3D IntersectionErr is
   now recordable in local North East Down format.

SESSIONS
 - Added RPC processing session.
 - DG sessions now use bicubic interpolation for map projection arithmetic.
 - Fixed bug in case where DG XML file had single TLC entry.
 - DG sessions now applies velocity abberation corrections.

TOOLS
 - Have point2dem use correct nodata value when writting DRGs.
 - Fix segfault issue in point2dem due to triangle clipping.
 - Hiedr2mosaic python script now supports missing CCD files and
   start/stop resume on noproj step for bundle adjustment.
 - Max pyramid level used for stereo correlation is configurable with
   corr-max-levels option.
 - Stereo accepts left-image-crop-win option for processing of
   specific image coordinates.
 - Stereo_pprc accepts nodata-threshold and nodata-percentage options
   for masking (possibly shadows).
 - Stereo command should now correctly call secondary excutables so
   that their dependencies are loaded.

*** RELEASE 2.0.0, 20 JUNE 2012 ***

GENERAL
 - Modified ASP according to API changes in ISIS 3.4.0.
 - Added new interest point matching code. Provides better initial
   guess for search range.
 - Complete changed stereo.default format. See stereo.default.example
   for an example.
 - Complete rewrote integer correlator for improved speed and less
   memory use.
 - Relicense code to be Apache 2 licensed instead of NOSA.

SESSIONS
 - Add normalization options to PINHOLE session.
 - Added Digital Globe (DG) session. This supports the linearized
   linescan camera model that is described in the supporting XML file.
 - Deleted KEYPOINT session. PINHOLE essentially does all of that.

EXAMPLES
 - Added DEMError output example for MOC.
 - Added jigsaw example for MOC.
 - Added HiRISE example dataset.

TOOLS
 - Dropped release of isis_adjust and bundlevis.
 - Fix int32 overflow in arithmetic for preprocessing's subsample.
 - Remove Python 2.4 incompatible call in cam2map4stereo.py.
 - Speed up point2dem texture access by remove unnecessary mutex.
 - Add earth mode and fix non spherical support in point2dem.
 - Added lronac4staged.py.
 - Implemented D_sub or seeded integer correlation in stereo_corr.
 - Fourth channel of output PC file is now triangulation error.
 - Added --t_srs option to point2dem.
 - Added rpc_mapproject tool. This provides an optional map_projection
   step that can be used for DG session.
 - Allow IAU2000:* projection options to be used by point2dem.
 - No-Data is now colored black in GoodPixelMap.
 - Make noproj step in hiedr2mosaic parallel.

*** RELEASE 1.0.5, 27 OCT 2011 ***

GENERAL
 - Fixed ASP to work with ISIS 3.3.0's new API changes and library
   dependencies.

SESSIONS
 - Enabled parallel writing in Pinhole Session.

TOOLS
 - Fix possible infinite loop in stereo_corr's search range.
 - Shutoff rotation invariance in automatic search range for better
   quality results. This is possible because the input images are
   already aligned.
 - Sub image produced by stereo_pprc are now limited to around 8MB.
 - Fix disparity_debug to work with integer disparities as well.
 - All ASP tools should now have a '--version' option.
 - Bug fix point2dem where rasterizer was accessing outside of
   allocated memory.
 - Speed up mask generation in stereo_pprc by avoiding mutex.
 - Speed up hole filling in stereo_fltr by avoiding mutex.

*** RELEASE 1.0.4, 23 MAY 2011 ***

SESSIONS
 - Added support for CAHVORE in pinhole sessions.

TOOLS
 - Hide GDAL warnings caused by our file integrity checks.
 - Mostly added standardized options for settings threads and BigTIFF.
 - Have orthoproject return same type as input plus alpha channel.
 - Improved edge_masking, speeds up stereo_fltr and stereo_pprc.
 - Have cam2map4stereo.py explictly use ISIS's getkey command.
 - Fix and optimized point2dem. Remove caching and improved rendering
   times. This should fix BigTIFF problems that have been reported.
 - Improve triangulation times slightly when using map projected
   linescan camers.

EXAMPLES
 - Added orthoproject, image2qtree, colormap, hillshade examples to MOC.
 - Added K10 example dataset.
 - Added MER example dataset.
 - Added a non-map projected MOC example.
 - Added CTX example dataset.

DOCS
 - Append notes from Michael about run times.

VISION WORKBENCH benefits
 - Added threaded writing to colormap and hillshade.
 - Fix hillshade problems with int16 DEMs.

*** RELEASE 1.0.3.1, 16 MARCH 2011 ***

GENERAL
 - Updated documentation and support text files to insure compatibility
   with our third party software.

*** RELEASE 1.0.3, 11 MARCH 2011 ***

ISISIO
 - Make quaternion interaction compliant with VW changes.

SESSIONS
 - Correct reading of TSAI camera format.

TOOLS
 - Reduce memory footprint of ISIS_Adjust.
 - MOC Example rewritten.
 - Improve dash script that loads libraries on startup of application.

VISION WORKBENCH benefits
 - KD-Tree search replace with FLANN, a fast approximate nearest
   neighbors. This improves speed of ipmatch, and ip alignment
   option in stereo.
 - Removed exception catch in Bayesian affine sub-pixel.
 - Fixed type deduction problem on 32 bit systems.
 - Pyramid Correlator code cleaned up. Minimal speed improvement.
 - Fixed Camera Relation Network's memory leak.
 - Fix image2qtree normalization and manual geo-positioning.
 - Correct random seed call with faster solution.
 - Default raster tile size changed to 256.
 - Fix deadlocking in loading of ".vwrc", Vision Workbench's settings file.

KNOWN ISSUES
 - OSX seems to do excessive locking during multi-threaded rendering.
   This problem is non-existant in RHEL5 and is still a mystery.

*** RELEASE 1.0.2, 9 DECEMBER 2010 ***

ISISIO
 - IsisCameraModel support operator<< style printing.
 - Correct camera pose return to be consistent with VW.
 - Change IsisCameraModel to use shared_ptr to block memory leak.

TOOLS
 - Executables should catch VW and Standard errors and print human readable
   responses.
 - Stereo is now a python script that call multiple executables.
 - Change correlation progress bar to track total completion.
 - Bundle_Adjust and ISIS_Adjust switch from eulers to quaternions.
 - Bundlevis dropped CAHVOR support. Added progress bar. Converted statistics
   with CDFAccumulator.
 - Point2dem remove excessive rotation call
 - Enforce tile rasterization size to 1024 during integer correlation.
 - Select tools should now write their nodata value in the TIFF metadata.

PHOTOMETRYTK
 - Still unreleased, and still under development.

*** RELEASE 1.0.1, 24 MAY 2010 ***

CORE
 - Control Network Loader removed and sent to VW's Bundle Adjustment Module.
 - Build system can now use Google PerfTools.
 - Kakadu was made optional in build system (ISIS 3.2.x uses this).

ISISIO
 - Optimized IsisCameraModel to use IsisInterface. Custom code can be loaded up
   for individual camera types so we don't have to run through ISIS's entire
   camera model. This allows us not to call GroundMap when the camera is not
   map projected.
 - Added a series of tests for the IsisCameraModel that perform unit tests
   with MOC and Galileo.
 - Added custom project code for Linescan cameras so not to rely on ISIS's
   LineScanCameraGroundMap. This code is a bit more precise.

MPI
 - Added new optional module called MPI that builds on top of
   Boost MPI. This is experimental development code and is not used for
   anything in binary release yet.

PHOTOMETRYTK
 - Added new optional module call the Photometry Toolkit. This is
   experimental development code and is not use for anything released
   in the binary yet. This code focuses on future research of massive
   mosaics (+100GB) and the ability to perform basic photometric corrections.

SESSIONS
 - Pinhole session modified to read CMOD files as well.

SPICEIO

TOOLS
 - Made orthoproject more robust against odd input georeferences.
 - orthoproject's auto scale and crop works again.
 - Point2mesh's texture is written to a different file.
 - Added aligndem and geodiff, experimental DEM alignment utilities.
 - Added a quick experimental DEM profile utility called dem_profile.
 - stereo now detects correlation settings automatically using OBALoG and
   SGrad1 interest point functions.
 - Added cam2map4stereo.py
 - Remove excessive serial number calculations in isis_adjust.
 - Update isis_adjust to VW's new Bundle Adjustment module for a 2x improvement.
 - Stereo should now use LZW compression by default.
 - Point2dem and Stereo have added option to use directory other than /tmp for
   intermediate files.
 - Point2dem now uses MOLA datum instead of its previous truncated value.
 - Added safety check to stereo to make sure user is not supplying the
   same camera.
 - Added point2las, a utility for converting a point cloud to the LAS format.

TESTS
 - Switched from CXXTests to GTest framework.

*** RELEASE 1.0.0, 23 OCTOBER ***

CORE
 - OrthoRasterizer.h is subject to change for further VW integration
 - MedianFilter.h is untested/unused
 - BundleAdjustUtils.* is subject to deletion for integration with
   ControlNetworkLoader.*

ISISIO

SESSIONS
 - ISIS Session is the only fully supported session at this time
 - Pinhole Session works but has not been tested for this release
 - Keypoint/RMAX Session status are unknown

SPICEIO
 - Subject to deletion in 1.0.1

TOOLS
 - Point2dem can crash rarely. Still investigating.
 - rmax* utilities are not working