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ChangeLog
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ViSP
Visual Servoing Platform
Resume of the change log
Copyright (C) 2005 - 2017 by Inria. All rights reserved.
https://visp.inria.fr
ViSP 3.1.0 (released December 22nd, 2017)
- Contributors:
. This release was possible thanks to contributions from Fabien Spindler,
Souriya Trinh, Wenfeng Cai, Oleksandr Borysov, Marc Pouliquen, Ronald Ensing,
Yuriy Baranov, Jason Chevie
. Google Summer of Code 2017: Vikas Thamizharasan that developed for the
model-based tracker Blender import/export CAD model plugins and a Qt-based
CAD model viewer
- New features
. Improve vpRealSense to better support R200 device
. Improve vpConfig.h header content to remove path to build tree when installed
. Speed-up vpMbKltTracker and vpMbEdgeKltTracker during reinit
. Remove numerical recipes code that is not open-source
. Changes done in vpMatrix to use either Lapack, OpenCV or GSL 3rd party
. Eigen 3rd party was introduced as an alternative for matrix computation
. Lapack is now embedded as a build-in when Lapack system library is not found
. vpVideoReader was improved to better detect first and last image numbers of an
image sequence and better handle the frame step
. Speed-up vpColVector::insert(), vpMatrix::insert() and vpMatrix::stack()
. Refactor model-based tracker (+ some segfault / memory fixes)
. Introduce vpMbGenericTracker a new class that can handle all the features
supported by the model-based tracker but also consider stereo or multi-view
tracking
. Add model-based depth tracking using face normals or using a dense approach
. Use BLAS library to compute dgemm and dgemv operations if available
. Add Hadamard product
. Add an explicit recopy parameter when resizing a vpArray2D
. Add move constructor / assignment operator for vpMatrix, vpColVector and vpImage
. Introduce vpPylonGrabber a wrapper for Basler cameras using Pylon SDK
. Introduce AprilTag as a 3rd party and vpDetectorAprilTag wrapper
. Remove ffmpeg 3rd party usage
. Introduce AppVeyor check for continuous integration (MSVC + mingw-w64)
. Fix slow acquisition of color pointcloud with RealSense camera
. Improve vpIoTools to make recursive folder and sort files
. Add display of polygon lines (vpDisplay::displayLine() /
vpDisplay::displayDotLine())
. Add CPU capabilities check
. Improve VISP_INPUT_IMAGE_PATH env var usage to get more flexibility
. Update ViSP license to GPLv2 or later
. Introduce new imgproc module dedicated to image processing and tutorials
. Add UDP client / server
. Add compat with Intel Compiler icc
. Add new class vpRealSense2 to support Realsense 2 SDK
. Add Franka Control Interface C++ API detection and native examples from Franka
- Tutorials
. New tutorial: How to extend ViSP creating a new contrib module
. New tutorial: AprilTag marker detection on iOS
. New tutorial: Installation from source for Windows with Visual C++ 2017 (vc15)
. New tutorial: Installation from source for UWP with Visual C++ 2017 (vc15)
. New tutorial: How to import a CMake project that uses ViSP in Eclipse IDE
. New tutorial: Brightness and contrast adjustment
. New tutorial: Contrast and image sharpening techniques
. New tutorial: Automatic thresholding
. New tutorial: Contours extraction from a binary image
. New tutorial: Connected-components labeling
. New tutorial: Flood fill algorithm
. New tutorial: Practical example: count the number of coins in an image
. New tutorial: Markerless generic model-based tracking
. New tutorial: AprilTag marker detection
. New tutorial: Markerless model-based tracker CAD model editor - GSoC 2017 project
- Bug fixed
. [#137] Fix bug in extration of vpRotationMatrix from vpPoseVector using
vpPoseVector::getRotationMatrix()
. [#149] Bug in vpTime::measureTimeMicros() (OS detection was done wrong)
. [#160] Build issue with msvc arround std::min() std::max()
. [#162] Redefinition errors in WinSock2.h and winsock.h
. [#165] Segmentation fault when cout a null row vector
. [#171] Segfault when using vpMatrix::pseudoInverse()
. [#175] Unable to track an ellipse with vpMeEllipse
. [#177] Bug in line 124 of VISPConfig.cmake
. [#178] Comments are not handled in vpMbTracker::initFromPoints()
. [#183] Inversion between pixel size and optical center in vpRealSense class
. [#187] Integer division by zero in vpDisplayWin32.cpp
. [#200] Issue when reading PNG images with 16bits depth with libpng
. [#201] Fix read PNG images with 16 bits depth with libpng
. [#207] CMake option 'ACTIVATE_DEBUG_TRACE' has never been used
. [#226] Planar pose Lagrange computation returns a left handed frame
----------------------------------------------
ViSP 3.0.1 (released February 3rd, 2017)
- New features
. Compatibility with Microsoft Visual C++ 2017 (MSCV 15)
. Compatibility with Universal Windows Platform (UWP); Windows Phone
and Windows Store 8.x and 10.0
. Add vpMatrix, vpColVector, vpTranslationVector missing member functions
to keep compat with ViSP 2.10.0
. New vpFlyCaptureGrabber class to capture images from PointGrey
cameras (USB-3, firewire, GigE)
. New vpVirtuose class, a wrapper over Haption Virtuose SDK that is
provided with their haptic devices
. New vpComedi and vpForceTorqueAtiSensor classes to get synchonous
data from ATI F/T sensors
. New vpRealSense class, a wrapper over RealSense SDK to capture
data from SR300, F200, R200 RGB-depth sensors:
+ Acquisition of the color / depth / infrared streams + the associated
point cloud
+ Possibility to set the stream parameters (resolution, FPS, ...)
+ Possibility to retrieve stream aligned (e.g. color stream aligned to depth)
. New cross platform multi-threading capabilities with vpMutex and
vpThread classes
. Crosscompiling capabilities tested for Raspberry Pi target
. Crosscompiling capabilities tested for Nao, Romeo and Pepper robots
. OSX/iOS framework creation with support of OpenCV 3rd party
. Introduce SSE2, SSE3 and SSSE3 optimizations
. New meta-header visp3/visp.h that allows to include all ViSP headers
in one line
. New meta-header visp3/visp_<module>.h that allows to include all the
headers of a given module in one line
. When using cxx11 support (USE_CPP11=ON), the corresponding compiler
flag is propagated to the project that use ViSP as 3rd party
. In vpServo introduce setCameraDoF() that allows to turn off the usage
of some dof
. Model-based tracker:
+ Introduce stereo as well as more generic multi camera tracking capabilities
+ New classes vpMbEdgeMultiTracker, vpMbKltMultiTracker, and
vpMbEdgeKltMultiTracker for the hybrid version
. Set vpRGBa images alpha channel default value to 255
. Allow to resize the display in order to display image that are larger than
the screen resolution
. Introduce new CMake ENABLE_FULL_DOC var: when turned ON allows to build
doxygen documentation with all classes including internal ones
. Build information available in ViSP-third-party.txt is now more
complete, including OS, compiler, flags and 3rd party versions.
This information is also embedded in visp_core library and could
be obtained using vpIoTools::getBuildInformation()
. Improve RANSAC pose estimation computation time (noticeable with large data)
. vpKeyPoint class:
+ Support for little / big endian architecture when writing learning data
into binary file
+ Add possibility to learn keypoints on cylinders
+ Add support of the new keypoint methods in OpenCV 3.1 and 3.2
+ Add possibility to use enum type to select the keypoint
. Add possibility to save extra information (time, reprojection error, ...)
for the camera calibration process (e.g. in camera_calibration.cpp)
. Improve image morphology operations for grayscale images
. Add optimized image addition / subtraction for grayscale images
. Add possibility to load recursive CAO model with identical filenames
. Add possibility to retrieve clipped polygons for the model-based tracker
. Improve vpPolygon::isInside() computation time
. Add separable filter and switch between correlation / convolution in vpImageFilter
. Add possibility to print vpImage class in the terminal
. Add basic image resizing (nearest neighbor / bilinear / bicubic interpolation)
- Tutorials
. New tutorial: How to use multi-threading capabilities
. New tutorial: Crosscompilation for Raspberry Pi from Ubuntu host
. New tutorial: Installation from prebuilt packages for Arch Linux
. New tutorial: Installation from prebuilt packages for ROS
. New tutorial: Installation from prebuilt packages for iOS devices
. New tutorial: Installation from source for iOS devices
. New tutorial: How to create a basic iOS application that uses ViSP
. New tutorial: Image processing on iOS
. New tutorial: Cross-compilation for NAOqi OS from Ubuntu host
. New tutorial: How to create an application that uses ViSP on NAOqi OS
. New Tutorial: Markerless model-based tracking with stereo cameras
. New Tutorial: How to display an image
. New Tutorial: Pose estimation from QRcode
. New Tutorial: Installation from source for Universal Windows Platform (UWP)
- Bug fixed
. [#37] How to build for ios? build failed
. [#38] Wrong urls in visp/doc/tutorial-calibration.doc
. [#39] Meta header files visp_<module>.h not installed
. [#40] vpKeyPoint fails to R/W database on big endian arch
. [#42] Fails to build on Fedora 23 with Coin3-devel
. [#44] Reshape issue with vpRowVector or vpColVector
. [#47] Build issue in vpMath.h around vpMath::sign()
. [#48] Fix vpPoseVector::getThetaUVector() to return the adequate vector
. [#54] Error in vpHomography::projection()
. [#59] Unable to use visp-config or visp-config.bat to build a project
without CMake
. [#68] Visual C++ 2010 unable to build modules\core\test\math\testMath.cpp
. [#69] Unable to build ViSP under Windows without OpenCV 3rdparty
. [#75] visp.pc pkgconfig file is corrupted by optimized and debug keywords
. [#77] vpAROgre: wrong resources / plugins default path when used from
ROS installation
. [#82] Problem when comparing two vpImage (operator!=)
. [#84] Problem with vpImageMorphology and CONNEXITY_8 and with border pixels
. [#90] Fix potential build issue with isnan() and isinf() usage when cxx11
flags are used
. [#91] vpMeLine::computeRhoTheta should throw exception
. [#92] Is there any interface to resize display window?
. [#95] setEllipsoidBadPointsPercentage in vpDot2 not completly being taken
into account
. [#104] vpMomentAlpha: Results are not repeatable
. [#105] vpMomentAlpha: Question about symmetric judgement based on centered
moments
. [#106] Freeze when more than one GDI display is opened with mingw
. [#109] Link errors with undefined reference to TIFF
. [#111] vpColor doesn't work in mb-hybrid
. [#112] vpPose: Possible ambiguity or misunderstanding in doxygen message
. [#114] vpMomentAlpha: wrong abs() function using
. [#116] Link errors related to openmp
. [#117] vpMomentAlpha: out of range of [-Pi, Pi] in relative mode
. [#118] vpKeyPoint: perhaps misleading in document
. [#120] Build failed with clang/llvm
. [#126] vpPolygon::operator=() does not copy everything.
----------------------------------------------
ViSP 3.0.0 (released December 18th, 2015)
- New features
. Compatibility with Windows 8.1 and 10
. Compatibility with Microsoft Visual C++ 2015 (MSCV 14)
. Compatibility with Odroid XU4
. Source code migrates to GitHub: http://github.com/lagadic/visp
. Introduce Travis continuous integration
. New website: http://visp.inria.fr
. Reorganize source in modules (core, vision, mbt, tt, …) with a library
per module named libvisp_<module>. Keep compat with previous releases.
. Allow to link contributions to ViSP source code using
VISP_CONTRIB_MODULES_PATH CMake var;
see http://github.com/lagadic/visp_contrib
. Model-based tracker:
+ New visibility tests based on the scanline rendering algorithm.
+ Improve Ogre3D visibility tests in order to use it in a probalistic
approach via the setNbRayCastingAttemptsForVisibility()
and setGoodNbRayCastingAttemptsRatio() functions.
+ Introduction of cylinder tracking with the model-based trackers using
key points.
+ Improve the setPose() functionnality to use the given pose as a
prediction of the key points position while using vpMbKltTracker and
vpMbEdgeKltTracker.
. Introduce vpArray2D template class that is inherited by all matrices and
vectors.
. vpKeyPoint class:
+ Full code compatibility with OpenCV 3.0.
+ Add support to the new Features introduce in OpenCV 3.0 and contrib
module releases.
+ Add possibility to detect keypoints on an image pyramid with OpenCV 3.0.
+ Add possibility to change the image type (jpeg, png, ppm, pgm) when
saving a learning file.
+ Add OpenMP support for Affine SIFT.
+ Add single matching filter (discard pairs of keypoints where multiple
query keypoints are matched to the same train keypoints).
+ Add possibility to match train keypoints to query keypoints (could be
useful when we learn only on one image, it allows to avoid to match
background keypoints with train keypoints).
+ Optimize the FLANN matching by learning once the train descriptors
instead of doing it at each call of the matching function (noticeable
with large train descriptors).
+ Add possibility to use the FLANN matcher with binary descriptors.
+ Fix displayMatching function and fix small memory leak in loadLearningData.
+ Should be possible to read / write learning files in binary mode regardless
of the endianness of the host (need to be tested on a real case).
+ Save learning files in XML mode with the full precision (according to
the data type).
. and a lot of improvements and fixes
- Tutorials
. New tutorial: Bridge over OpenCV
. New tutorial: Installation from source with Homebrew
. New tutorial: Installation from source on Windows 10 with Visual 2015
. Update all the installation tutorials since GitHub migration and modules
introduction and make more explicit 3rd party installation
. Update tutorial: Markerless 3D model-based tracking
- Bug fixed
. [18748] Ogre and wireframe resources not found after ViSP installation
. [18823] vpMatrix::kernel method returns false result if matrix has
less rows than columns
. [18939] vpParseArgv::ARGV_CONSTANT segfault
. [19312] Model-based tracker unable to initialize the number of cylinder
or circle from cao file
. [19326] segfault when using vpDisplayX::init(unsigned int, unsigned int, ...)
. [19368] Invalid rotation parameters in vpSimulatorViper850::getPosition()
. [#3] Issue when comparing two vpRGBa
. [#5] Unable to get calibration matrix K when model with distorsion is
used
. [#6] Issue with vpMath::round()
. [#18] Issues with vpColVector::median() + with assignment operator of
vpRowVector + with vpRowVector::normalize() function
----------------------------------------------
ViSP 2.10.0 (released February 13th, 2015)
- New features
. New object detection and localisation capabilities that allow to
initialize for instance the model-based tracker (see tutorial).
. New bar code detectors that uses libdmtx and libzbar (see tutorial):
+ vpDetectorQRcode class allows to detect QR codes
+ vpDetectorDataMatrixCode class allows to detect data matrices
. New vpDetectorFace class that allows face detection based on OpenCV
Haar cascade classifier capabilities (see tutorial)
. New vpConvert class for type conversions from OpenCV to ViSP.
. Model-based tracker:
+ Introduction of 3D circles that project as ellipses.
+ In *.cao files comments are allowed on lines starting with # character.
+ New functions getError() and getRobustWeights() useful to compute
tracking quality indicators.
+ Introduction of setLod() for "level of detail" that checks if the size
of the feature is large enough to be considered by the tracker.
+ Based on the rank of the interaction matrix turn off automatically the
degrees of freedom that cannot be estimated. Especially useful when
considering 3D objets with only cylinders and circles.
+ and many other improvements and fixes.
. Video reader and writer support mpeg4. ffmpeg is no more requested
in vpVideoReader and vpVideoWriter. If ffmpeg is not detected or installed
we use OpenCV.
. New vpXmlParserHomogeneousMatrix class to read/write homogeneous
transformations from/to xml files
. Auto detection of visp-images-data Debian or Ubuntu package that allows
testing without setting VISP_INPUT_IMAGE_PATH
. If OpenCV version >= 2.4.8 use only OpenCV C++ api. Classes that use
IplImages as input are deprecated.
. Compat with RaspberryPi architecture
. Compat with OpenCV 3.x
. Compat with Yarp 2.3.63
. Compat with CMake 3.x
. Compat with MinGW w64 from http://mingw-w64.sourceforge.net/
- Tutorials
. New tutorial to show how to install ViSP from Ubuntu official packages.
. New tutorial to show how to install ViSP on CentOS.
. New tutorial to show how to install ViSP on openSUSE.
. New tutorial to show how to install ViSP on Raspberry Pi.
. New tutorial to show how to install ViSP on Windows 8.1 with msvc.
. New tutorial to show how to install ViSP on Windows 8.1 with mingw.
. New keypoints matching tutorial.
. New bar code detection tutorial.
. New face detection tutorial.
. New object detection and localization tutorial
. Update KLT tracker tutorial to show how to initialize the tracker online.
. Update blob tracker tutorial to show how to use v4l2 live camera.
. Update model-based tracking tutorial for advanced usage.
- Bug fixed
. [17112] Error after second call to track() in vpMbEdgeTracker
. [17212] vp1394TwoGrabber: unable to select a camera from its guid
. [17457] Cannot apply a secondary task to a 7dof robot
. [17550] Build error with ffmpeg libraries
. [17620] vpXmlParserCamera::save() doesn't save the camera name and
image size
. [17644] vpDisplayX doesn't work on RaspberryPi
. [17659] ViSP+Ogre3D+boost: libboost_chrono cannot be opened
. [17705] Bad endianness support in vpDisplayX
. [17766] Compat with cmake 3.0.0: failed due to new CMP0026 policy
. [17972] Ogre examples are not working with Fedora 20
. [17983] Unable to build ViSP when an older version was previously
installed
. [18258] Stack overflow when using vpDot under Windows
. [16895] undefined reference to `vpGaussRand::gaussianDraw()'
. [18406] Infinite loop in `vpPose::poseRansac()'
. [18446] Bad KLT points detection in vpMbKtlTracker and vpMbEdgeKltTracker.
. [18451] Infinite loop in vpSimulatorViper850::stopMotion()
. [18452] Empty filename check in vpImageIo, vpVideoReader, vpVideoWriter is erroneous
. [18459] Error when initializing KLT related trackers but no key point is deteted.
. [18471] Bad fov computation in vpCameraParameters.
. [18550] Linking error with Homebrew install of OpenCV on MacOS
----------------------------------------------
ViSP 2.9.0 (released February 18th, 2014)
- New features
. Introduction of a new template tracker using SSD (vpTemplateTrackerSSD
classes) or ZNCC (vpTemplateTrackerZNCC classes). These trackers are able
to estimate 2D transformations such as translation, SRT (scale, rotation
and translation), affine and homography. A video
illustrating this tracker capabilities is available on:
http://team.inria.fr/lagadic/visp/computer-vision.html
. In vpServo introduction of a new controller able to ensure continuous
sequencing
- Improvements
. Add missing const to member functions and arguments passed by reference.
. Introduction of a new option BUILD_WITH_STATIC_CRT that allows to set
/MT (default) or /MD msvc build option
. Compatibility with mingw, msvc11 (2012), msvc12 (2013)
and open solaris 11
. Trace and debug can now be enabled/disabled using CMake
ACTIVATE_DEBUG_TRACE option
. Fix errors detected by Covery Scan static code analyser
. Fix warnings detected with Gnu g++ -Weffc++ -Wshadow compiler flags
. Improve a lot of classes
- New examples
. New example that shows how to use the template tracker
. A lot of new sample code provided in tutorial folder
- New tutorials
. Installation from source on Linux Fedora
. Image filtering
. Template tracking
. Homography estimation from points
. Keypoint matching
. How to boost your visual servo control law
. Debug and trace printings
- Bug fixed
. [16263] libopencv_nonfree for Surf not detected by CMake.
. [16307] vpVideoReader::setLastFrameIndex() doesn't work.
. [16371] No convergence in SVDcmp
. [16465] FTBFS on armhf, ppc, s390: Errors while running CTest
. [16696] Build with OpenCV fails with msvc (/MT conflicts with /MD)
. [16781] Unable to open .pgm saved with Matlab imwrite
. [16823] Problems with camera calibration code
. [16889] Link error with CMU 1394 on win x64 arch
. [16895] undefined reference to `vpGaussRand::gaussianDraw()'
. [16919] Unable to link with OpenCV 2.4.8 under Windows
. [16924] MinGW: unable to build ViSP as a shared library
. [16928] vpVideoReader is unable to find the number of the first image
from a generic sequence of images
----------------------------------------------
ViSP 2.8.0 (released July 24th, 2013)
- New features
. New camera calibration tool: example/camera_calibration.cpp
- Improvements
. vpV4l2Grabber and vp1394CMUGrabber does no more require a call to
open(I).
. In vp1394CMUGrabber new getters/setters for the framerate, shutter, gain.
It is now possible to change the settings in the acquisition loop.
. An exceptions is throwned when moving-edges are not initialized
(vpMeTracker, vpMeLine, vpMeEllipse)
. In model-based trackers, improve face visibility test using Ogre ray
tracing when faces are concave or not oriented counter clockwise.
. Still in model-based trackers, add functionalities to use clipping planes.
. ViSP can now be used with pkg-config
. New fonctions in vp1394TwoGrabber to turn auto shutter and auto gain
on. Also new getter for auto shutter and auto gain min/max values.
. Support Visual Studio 2012 (MSVC11)
. Introduce C++ visibility support as described here
http://gcc.gnu.org/wiki/Visibility
. Better support of image formats: *.tiff, *.jpeg, *.bmp, *.pbm, ...
- Examples
. Introduction of tutorials as minimalist line by line illustrated examples.
- Bug fixed
. [15404] Segfault in vpMbTracker derived classes around Coin SoDB::init()
and SoDB::finish() usage
. [15410] Robot wireframe simulator hangs
. [15422] Build issues with ffmpeg 1.0.1 third party
. [15475] Segfault in cv::Mat(BGR) to vpImage(grey) conversion
. [15522] Visibility tests issues in Model-Based Tracker using Ogre3D
. [15566] Bad mask orientation when using model-based tracker with
cylinders
. [15587] visp-config conflicts with multiarch support on Debian
. [15623] Possible ViSP-2.7.0 bugs detected by cppcheck
. [15644] crash with vpRobotWireFrameSimulator::initScene()
. [15679] vpDot and vpDot2 copy operator are incomplete
. [15680] Bad pixel to meter conversion in vpFeatureLuminance
. [15697] False positive exception in vpDisplay when vpDisplay::close()
is used
. [15730] ViSP-third-party.txt is installed in a wrong location
. [15896] Ogre Boost components miss Boost.Filesystem
. [15895] ViSP does not compile on FreeBSD (amd64 / i386)
----------------------------------------------
ViSP 2.7.0 (released February 11th, 2013)
- New features
- New vpViper650 and vpRobotViper650 classes to interface Inria's new
Adept Viper s650 robot.
- New robot simulators; vpSimulatorCamera, vpSimulatorPioneer,
vpSimulatorPioneerPan
- New model-based tracker using KLT points: vpMbKltTracker.
- New hybrid model-based tracker using moving edges and KLT points:
vpMbEdgeKltTracker
- Improvements
- Add visp-config.1 man page.
- To respect Debian guidelines, remove duplicate ABI version.
Library name was set to libvisp.a or libvisp.so.2.7.0 rather than
libvisp-2.a or libvisp-2.so.2.7.0
- Fix typos detected by lintian
- Add support for multiarch. Multiarch is the ability for a library
to be installed concurrently for differents architectures (such as
i386 and amd64 for instance). In practice, the changes removes the
assumption made that libraries are installed in $INSTALL_PREFIX/lib and
binaries in $INSTALL_PREFIX/bin.
- In vp1394TwoGrabber that allows to grab images from firewire cameras,
cameras are powered off when the grabber is closed.
- MinGW is now supported but since MinGW currently doesn't support tls
__declspec(thread) with vpDisplayGDI it is possible to open only
one display.
- To better organise the code, robot simulators inherit from
vpRobotSimulator class. Introduction of a new vpRobotWireFrameSimulator
class as a base class of robot simulated using the wireframe display
capabilities.
- VRML loader (based on Coin3D) now reads transform nodes and hierarchical
scenes.
- If Ogre3D is used, model-based trackers use now RayCasting to improve
faces visibility test.
- Compatibility with iOS 6 and Fedora 18
- Examples
- New model-based tracker examples to show how to use the KLT and hybrid
tracker. See in example/tracking mbtEdgeKltTracking.cpp and
mbtKltTracking.cpp
- Bug fixed
- [14646] ViSP doesn't build on Windows with MinGW
- [14651] Build error arround vpMatrix::pseudoInverse() with OpenCV 2.1.0
- [14661] Build error when GDI is not detected or turned off
- [14818] Build error when only GTK display device is available
- [14862] Lagrange pose estimation cannot handle planar objects with
points in plane oX=d or oY=d
- [14863] vpPose::poseRansac() can fail during Lagrange pose estimation
- [14993] Segfault in mbtTracker example when only the cube is tracked
- [15049] In vpFeatureSegment, bad interaction matrix associated to
alpha angle
- [15110] Segfault in ffmpeg video reader
- [15291] Under Windows, the end of an image is not displayed
----------------------------------------------
ViSP 2.6.2 (released July 15, 2012)
- New features
- New vp1394CMUGrabber class that allows firewire frame acquisition
under Windows using CMU 1394 Digital Camera 3rd party library.
Thanks to Lucas Lopes Lemos and Guillaume Laurent from FEMTO-ST,
AS2M departement, Besancon, France for this contribution.
- New vpPioneer, vpPioneerPan, vpRobotPioneer classes to control Pioneer
mobile robots using Aria 3rd party library.
- New vpFeatureSegment class to consider a segment as a visual
servoing feature. Normalized and non normalized features are considered.
- New vpFeatureMomentArea class to consider moment area as a visual
feature.
- Introduction of new functionalities in vpIoTools to parse text
config files
- Introduction of YARP to ViSP image converters in vpImageConvert
- New vpClient and vpServer classes for a multiclients TCP network.
- New vpPoseFeatures class for pose computation from any visual features.
To be able to consider other user defined features the compiler should
be compatible with C++ 11 standart.
- Improvements
- Introduce a new Denavit Hartenberg representation of the Biclops head
in vpBiclops.
- Compatibility with g++ 4.7 and OpenCV 2.3.1, 2.4.0, 2.4.1
- Remove warning detected with Visual C++ /Wall flag
- Use CMake native package finder for zlib, png, jpeg, coin3d, gtk2 and
doxygen 3rd party libraries detection. If detection fails, we use our
own package finder.
- Under Windows, changes done to add "d" suffix to the library name when
build in debug (libvisp-2d.lib and libvisp-2d.dll). Install stage
copy libvisp-2[d].lib in $CMAKE_INSTALL_PREFIX/lib and libvisp-2[d].dll
in $CMAKE_INSTALL_PREFIX/bin.
- Use OpenMP to optimize the execution of the moments computation.
- Possibility to compute the covariance matrix during pose estimation
(vpPose and vpPoseFeatures) and model-based tracking (vpMbTracker).
- All initClick() now have a non-blocking equivalent as initFromPoints(),
or initFromPose(), etc.
- Most of the classes that had a display() method now have the equivalent
display in static function (display's externalisation).
- Ransac is now improved for either pose computation or point matching.
- Examples
- New example plot3d.cpp to show how to plot 3D curves
- New example movePioneer.cpp to illustrate Pioneer velocity control.
- New example sonarPioneerReader.cpp to illustrate Pioneer sonar device
usage.
- New examples servoPioneerPoint2DDepth.cpp,
servoPioneerPoint2DDepthWithoutVpServo.cpp and
servoPioneerPanSegment3D.cpp
to show how to control the pioneer mobile robot by IBVS.
- New example grab1394CMU.cpp to show how to acquire images with
the CMU 1394 library.
- Bug fixed
- [13536] Division by zero in vpMeLine
- [13548] ViSP-2.6.1 produces several warnings with g++ 4.4.3, a const
is missing in vpMbtDistanceLine.h
- [13575] ViSP sporadic segmentation fault in vpMeLine
- [13625] trackMeNurbs example produce an assertion failed with MSVC:
"list iterator not incrementable"
- [13626] testXmlParser produre a Debug assertion failed with MSVC
- [13678] Cannot build all the examples if no display capability is
available
- [13679] GDI not detected on Windows 7 (64 bit) with Visual C++ Express
2010
- [13689] Memory leaks in jpeg reader: vpImageIo::readJPEG()
- [13690] Memory leaks in NURBS tracker
- [13843] In vpPolygon, isInside() may produce a segfault and getArea()
or getCenter() give bad results
- [13850] visp-config.bat produces a non compatible msvc 2010 output
format
- [13955] vpBasicFeature::error() is not virtual
- [13963] Under Windows, vpDisplay::getClickUp() doesn't work
- [14081] Error in vpThetaUVector when angles are near 180 deg +/- epsilon
- [14082] Segmentation fault in model based tracking when tracking only
cylinders
- [14474] Fix race condition in vpXmlParser.
- [14481] testFeatureSegment can lead to an exception.
- [14587] Ogre media directory OGRE_MEDIA_DIR not set in Ubuntu 12.04
- [14588] vpConfig.h doesn't match with the install directory
----------------------------------------------
ViSP 2.6.1 (released October 20th, 2011)
- New features
- Introduction of Lapack support used for the SVD decomposition in vpMatrix
- Introduction of vpAROgre that enables augmented reality applications
based on Ogre 3D. Some examples are provided in examples/ogre-simulator
- Add cylinder's tracking in the model-based tracker.
- Reintroduce OpenCV 2.0.0 support lost in ViSP 2.6.0
- Introduction of vpKinect, a wrapper of libfreenect to support the
Kinect device
- Introduction of vpMoment and vpFeatureMoment classes to be able to
consider 2D image moments as visual feature in visual servoing
- Improvements
- For firewire cameras framegrabbing with vp1394TwoGrabber, it is now
possible to select a specific camera with its GUID by using setCamera()
- All the specific Xml parser (vpMbtXmlParser, vpXmlParserCamera)
inherit now from vpXmlParser
- Memory leaks suppression in vpWireFrameSimulator, vpMe, vpXmlParser,
vpMbtXmlParser, vpXmlParserCamera, vpMbTracker, vpFeatureLuminance,
vpRobotSimulator, vpFFMPEG, vpBSpline
- It is now possible to grab images from an usb webcam with the
vpV4l2Grabber class that is based on the video 4 linux 2 driver.
- When it was possible without braking the backward compatibilty
std::list was introduced instead of vpList. Some of the functions that
use vpList are now deprecated.
- Better detection of image or video file types when used in vpImageIo,
vpVideoReader and vpVideoWriter
- Build
- Set the build type by default to release
- Improve the usage of debug versus release third-party libraries
- Deprecated
- vpAdaptativeGain is deprecated. Use vpAdaptiveGain instead.
- vp1394Grabber is deprecated. Use vp1394TwoGrabber instead.
- Most of the methods that use vpList are deprecated. Use std::list instead
- vpTwistMatrix deprecated in ViSP-1.6.0 was removed.
- Examples:
- New example grabOpenCV-2.cpp to show how to use the OpenCV
cv::VideoCapture class. This example shows how to acquire an image
with cv::VideoCapture, how to transform this image in ViSP format
and how to display it.
- New examples to illustrate the usage of the Ogre simulator through
vpAROgre class.
- New example to illustrate the usage of the Kinect through
vpKinect class.
- New examples to illustrate the usage of 2D image moments.
- Bug fixed
- [11110] On OSX vpDisplayOpenCV does not display images since OpenCV 2.1.0
- [11147] Coin not installed, cannot read VRML files
- [11473] vpImageTools::flip() come out error when deal with vpImage
with vpRGBa type
- [11529] ViSP / OpenCV(2.2.0) incompatibility
- [11563] segfault in vpVideoReader
- [11617] selecting a subset of features is not taken into account in
vpServo
- [11916] Build issues with GTK2 on ubuntu 10.10 (fatal error:
gdk-pixbuf/gdk-pixbuf.h)
- [11924] svdNr fails on some matrices where svdGsl succeeds
- [11942] Build issues with GSL on OSX due to 32/64 bits architecture
- [11943] Build issues with libjpeg on OSX due to 32/64 bits architecture
- [11944] Build issues with libpng on OSX due to 32/64 bits architecture
- [11981] vpV4l2Grabber class based on video 4 linux 2 is not able to
grab images from an usb webcam
- [12329] Bad font problem when opening vpPlot example
- [12334] Under windows, link errors when some 3rd party libs are not
build in the same build configuration as ViSP
- [12499] servoSimu4Points: World point disposition does not match camera
- [12591] Seg fault when using setCleanPreviousImage() from
vpImageSimulator
- [12739] Problem initialising a vpMeEllipse
- [13014] Bug in vpCalibration::calibVVSMulti() jacobian
- [13015] vpFFMPEG compatibility issue with ffmpeg-0.8 release
- [13449] "LIBJPEG_BUILD_TEST - Failed" message in CMake for Visual 2010
- [13467] CreateWindow windows API does not correctly register class.
----------------------------------------------
ViSP 2.6.0 (released September 23rd, 2010)
- License:
Change the open source license from QPL to GPL v2
- New Features
- Introduction of a new wireframe simulator. See vpWireFrameSimulator class.
- Introduction of a new model-based tracker that allows to track
an object based on its 3D model. See vpMbEdgeTracker class.
- New vpForceTwistMatrix class that allows to transfer a force/torque skew
from one frame to another.
- New vpVelocityTwistMatrix class that allows to transfer a velocity skew
from one frame to an other. The vpTwistMatrix class that does the same
work previously is from now deprecated.
- New vpRobotCycab class to communicate with the Cycab car-like mobile
robot at Inria.
- New generic vpRobotSimulator class to create robot simulators.
- New vpSimulatorViper850 class which simulates the viper850 robot.
- New vpSimulatorAfma6 class which simulates the Afma 6dof robot.
- New vpPlanarObjectDetector class to detect a planar surface based on
the Ferns Classifier.
- New vpSickLDMRS class, a UNIX driver to get measures from a Sick LD-MRS
laser scanner.
- New vpPlot class that was recoded to suppress the XPlotter dependency.
This class aims real time drawing of 2D or 3D graphics under Linux, OSX
and Windows.
- Third party library dependencies
- OpenCV 1.1 and 2.0 are no more supported. ViSP requires at least
OpenCV 2.1.
- libplotter is no longer required.
- Itifg8 is no longer supported.
- Improvements
- Copy constructors were added to better support stl lists and vectors.
- In firewire framegrabbing using vp1394TwoGrabber based on libdc1394-2.x,
add possibility to change during the execution the shutter, the gain, the
brightness, ... (see documentation for more details)
. new setIsoTransmissionSpeed(), setAutoShutter() methods
- In vpThetaUVector addition of &operator=() method to initialise all the
angles to the same value
- In vpHomogeneousMatrix addition of
. eye() method to set the transformation as identity
. extract(vpThetaUVector &) to extract the rotation as a Theta U vector
- In vpRobotViper850 add openGripper() and closeGripper() functions to
control the Schunk two fingers electric gripper (available only at
Inria).
- In vpRotationVector and vpTranslationVector introduction of set()
method that allows initialization from 3 doubles
- Documentation improvements
- Deprecated
. Some deprecated classes were removed: vpItifg8Grabber,
vpEulerVector, vpSubPixel, vpRA
. Deprecated functions since ViSP 2.4.4 where also removed
- Examples:
- New example calibrateTsai.cpp to show how to use the vpCalibration
class to estimate the hand to eye transformation.
- New examples to illustrate the usage of the new wire-frame simulators
- Bug fixed
- [9476] Memory leak in vpImageIo::readPNG() functions.
- [9505] Problem with the DirectShow grabber : can't be initialised.
- [9516] Problem in the getValue methods in the vpImage class.
- [9746] The displayPoint method of the vpDisplayOpenCV class doesn't work.
- [10472] Bug in the visual features: can't select the good feature.
- [10647] Delay in displaying image overlays
- [10687] The GDI display is not detected with Visual Studio 2010
- [10696] [CMake] VISP_DIR path conflict
- [10697] CMake standard output vars
- [10719] Compilation error in vpPlot
- [10723] Compilation error in vpFFMPEG.cpp
- [10748] PThread and Win32 Conflict
- [10928] vpPlane: rayIntersection from 2 points
- [10985] In vpPlot, 2D curve plotting starts with point (0,0)
and not with the first specified point.
----------------------------------------------
ViSP 2.4.4 (released January 8th, 2010)
- Features removed
- vpMePath has been removed.
----------------------------------------------
ViSP 2.4.4-rc1 (released December 21th, 2009)
- New Features
- During CMake configuration, when a third-party library is detected,
it is now possible to turn off the default usage of the library.
- Warning during the build if deprecated functions are used
- For the Irisa's Afma6 robot addition of a new vacuum tool (vpAfma6).
- New vpImagePoint class for image point coordinates.
- New vpPlot class that enables real time drawing of graphics under Unix.
- Ability to use other colors than the predefined ones with the rewriting
of the vpColor class and modifications in display functionalities.
- New vpKalmanFilter and vpLinearKalmanFilterInstantiation classes with
velocity and acceleration state models.
- New vpFeatureTranslation: ctc*
- New USE_COIN_SIMULATOR option during CMake configuration to enable or
disable simulation capabilities based on Coin3D suite.
- New vpViper, vpViper850 and vpRobotViper850 classes to provide an
interface for Inria's Adept Viper 850 robot.
- New vpBSpline and vpNurbs classes to manipulate 2D BSpline and
2D Nurbs (Non Uniform Rational BSpline).
- New vpMeNurbs class to track object edges.
- New vpFFMPEG class to interface the FFmpeg library.
- New vpVideoReader and vpVideoWriter classes to manipulate easily the
video files and the image sequences.
- Improvements
- In firewire framegrabbing using vp1394TwoGrabber based on libdc1394-2.x,
bus reset can be switched off in the constructor. There are also
improvements in the acquisition using acquire(vpImage<unsigned char> &I,
...) by removing the color coding format request and by support of the
RAW8 and RAW16 video format.
New dequeue() functions were also introduced to make possible to
separate the ring buffer dequeuing and enqueuing. This behavior
is for example useful when image processing needs to be introduced
between the dequeuing and enqueuing stages. It may also useful
to synchronise the image acquisition with an other sensor.
New setPanControl() function was introduced to set the PAN register
0x884 to control single or multiple image transmission from stereo
vision cameras like the PointGrey Bumblebee.
- vpDot2: The tracking is restarted in vpDot2::track() if a dot is found
but is not valid.
- In vpDisplay, new getKeyboardEvent() functionality to handle key
events and new getPointerMotionEvent() functionality to handle mouse
pointer motion event.
- Optimization of the vpMatrix class.
- Examples:
- New examples in examples/servo-viper850 to show how to use the
linear Kalman filter to compensate the tracking error due to the
motion of a target.
- New examples in examples/servo-viper850 to show how to use the
secondary task to avoid joint limits.
- New plotting example in example/tools/plot.cpp
- In grab1394Two.cpp example, addition of [-r] new option to reset the bus.
- New examples to show how to build a 3D visual servoing without using the
vpServo and vpFeature classes:
servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp
and servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp
- Bug fixed
- [7638] Memory leak in all vpFeature... classes was reopened
- [7888] vpV4l2Grabber cannot acquire an image from an analog camera
on Ubuntu 8.04 Hardy Heron
- [7994] vpMeLine : initialization problem for horizontal lines
- [8001] Coin and SoQt are not detected during CMake configuration
under Fedora 10
- [8032] Link error whith GSL while compiling HelloWorld.cpp on OSX
- [8225] Bug in the multiplication of a twist matrix (6x6) by a matrix (6xn)
- [8248] Compilation error under Windows MSCV8 if deprecated functions
are not build
- [8249] Compilation error under Windows MSCV8 when building ViSP
as a shared library (DLL)
- [8257] Bug in vp1394TwoGrabber::resetBus()
- [8259] Segfault in vpDisplayX
- [8389] vpKltOpencv : Bug in the copy constructor
- [8493] Problem to build ViSP as a dynamic library under windows
(Visual C++)
- [8495] Segmentation fault during the execution of the example
grabDirectShow
- [8831] Possible bug when extracting axis/angle from theta/u vector
----------------------------------------------
ViSP 2.4.3 (released April 10th, 2009)
- New Features
- Add vpFeaturePointPolar corresponding the a 2D image point with
polar coordinates visual feature.
- Add vpFeatureTranslation for cto (camera to object translation feature)
- Add vpDisplay::setWindowPosition() functionality
- Bug fixed
- [7281] Segfault when displaying a vpCylinder.
- [7308] Rotation vector not initialized to zero by the default constructor
- [7309] visp-config --cflags produces a bad output
- [7342] Bug in vpRobotAfma6::setVelocity(vpRobot::CAMERA_FRAME, v)
- [7494] Division by 0 in vpHomography
- [7424] Coin3D version 3 not supported under Windows
- [7613] vpSimulator::getInternalImage() function yields to an infinite
loop.
- [7607] vpDisplayGTK bad window positionning
- [7638] Memory leak in all vpFeature... classes
----------------------------------------------
ViSP 2.4.3-rc2 (released January 29th, 2009)
- Deprecated
- Creation of a deprecated section in the online documentation that
gives the list of classes or member function that are deprecated
- vpOSXcfoxGrabber was removed, since the C+Fox third party library
available at http://cfox.sourceforge.net/ was not updated since 2005.
- vpIcCompGrabber was removed, since it uses a home made wrapper based
on itifg-7.2.1 driver which is not maintained yet
- Testing
- Use of CDash insteed of Dart2. Dashboards are sent to
http://cdash.irisa.fr/CDash/index.php?project=ViSP
- Platform compatibility
- Compatibility with g++ 4.3.0 coming with fedora 9
- New Features
- Add visp-config.bat under Windows to get the list of include dirs,
library dirs and libraries ViSP depends on. This may help users to
build a Visual Studio project from scratch and where ViSP is used as a
third party project
- vpFeatureThetaU: Add cRcd feature, with ThetaU corresponding to the
rotation the camera has to achieve to move from current frame to the
desired one.
- vpOpenCVGrabber: New framegrabber based on OpenCV third party library
(useful for USB cameras).
- vp1394TwoGrabber: Get the timestamp associated to the grabbed image.
- vpV4l2Grabber: Get the timestamp associated to the grabbed image.
- vpRobotAfma6 and vpAfma6: Modifications to be compatible with the new
low level Adept controller provided by Cerebellum Automation.
- vpRobotAfma4 and vpAfma4: Modifications to be compatible with the new
low level Adept controller provided by Cerebellum Automation. New
vpServolens class to control the Servolens lens attached to the camera
fixed on the Afma4 end-effector.
- Examples:
- New examples in example/manual described in ViSP guide under preparation.
- example/servo-simu/servoSimu3DCamVelocity2.cpp
- Documentation
- Creation of a deprecated section.
- Classes are now grouped in doxygen modules to help learning ViSP.
- Introduction of new sample examples in the online documentation
- Bug fixed
- [5370] DirectShow and Visual Studio 9 2008 Express
- [5371] Warnings on Visual Studio 9 2008
- [5375] Compilation error in calibrate2dGrid.cpp
- [5398] display cylinder
- [5438] window sizes with Coin
- [5496] Compilation error in example/framegrabber/grab1394.cpp
- [5508] Bug in vpImageConvert::YUV420ToRGB
- [5527] Bug in vpImageTools::changeLUT()
- [5539] Unhandle exception with multi vpDisplayGDI / D3D instances
- [5596] Multiplying a vpRotationMatrix with a vpColVector ?
- [5642] warning in vphomographyvvs.cpp with Visual C++ 2003 .Net
- [5993] vpImage BI
- [6330] Segfault in vpSimulator with Coin + SoXt
- [6336] DLT Homography on 4 points
- [6484] Bug in vpCalibration::calibrationTsai for eye-to-hand calibration
- [6590] vpDisplayGDI cannot handle numerous displays (windows)
- [6619] Problem vpMeLine : compute of delta
- [6743] Bug in vpDisplayOpenCV::displayRectangle()
- [6744] Bug in vpDisplayOpenCV
- [6962] vpMeLine : problem of tracking
- [7034] vpMeLine : Bug when a strip is tracked
- [7126] problem with vpMatrix::eigenValuesByLU()
----------------------------------------------
ViSP 2.4.2 (released March 27th, 2008)
- New classes
- vpCalibration : calibration toolkit for intrinsic and
extrinsic parameters of perspective camera.
- vpXmlParserCamera : Parser xml to read and save camera parameters
from vpCameraParameters class.
- vpHinkley : Hinkley's cumulative sum test computation.
- vpMePath : Tracking of a white curve by using line and parabola
tracker.
- vpKeyboard : Gets a key from the keyboard without waiting for the
enter key.
- vpParallelPort : Parallel port management under unix.
- vpRingLight : Irisa's ring light controller.
- vpKltOpencv : Interface for the KLT (Kanade-Lucas-Tomasi) feature
tracker implemented with opencv.
- New Features
- Bug fix and improvement
- vpCameraParameters : support for radial distortion camera model.
- vpAfma6 : Add a getCameraParameters functionnality
- vpSimulator : either SoWin or SoQt or SoXt is needed to use
vpSimulator class.
- vpDot: setMaxDotSize(double percentage) replace
setNbMaxPoint(double nb) to be less image size dependent.
The maximal dot size is set by default to 0.25% (quarter image size).
setGrayLevelPrecision(double grayLevelPrecision) has been
added for a better management of gray dots detection.
- vpDot2:
Changes in searchDotsInArea() :
The algorithm search now in the bounding boxes of the bad dots.
Bug fixed : we could fall in an infinite loop.
Split accuracy private variable into grayLevelPrecision and
sizePrecision. The gray level min and max are well calculated for
white and black dots.
Add setEllipsoidShapePrecision() to turn on/off and modify the test
related of the geometry of the shape
- vpDisplayX : better management of endianness
- vpDisplayGTK, vpDisplayGDI, vpDisplayD3D, vpDisplayX :
To actually display drawings on the screen, a vpDisplay::flush(I) is
needed. Use it with parsimony : it is time consuming.
- vpDisplayGTK, vpDisplayGDI, vpDisplayD3D :
The behavior of the following methods change to be similar
to vpDisplayX:
. getClick(..., button) : The button used to click is now an output
. getClickUp(..., button) : The button used to click is now an output
Moreover, in vpDisplayGDI, vpDisplayD3D middle button is now managed
- vpDisplayGTK, vpDisplayGDI, vpDisplayD3D :
The usage of display->init(vpImage, int, int); returned a
segmentation fault : bug fixed
- vpDisplayD3D : we couldn't re-use a display after the call of the
function close(vpImage). We had a black image : bug fixed.
- vpDisplay : changes in displayRectangle():an option parameter
fill has been had to precise if the displayed rectangle is filled
or not.
- vpColor : Add orange color.
- vpServo : To fix bug #3528 you should explicitly call vpServo::kill()
in your programs. Otherwise an exception
vpServoException::notKilledProperly is launched by
vpServo::~vpServo() destructor.
- vpMatrix : Change Infinity Norm and Euclidian Norm formula to match with
the standard matrix norms definitions.
Change determinant formula for 3x3 matrices to match with
the standard determinant definition.
- vpImageConvert :
Add IplImage to vpImage and vpImage to IplImage conversion tool.
Add MONO16 to grey (MONO8) conversion tool.
- vp1394TwoGrabber :
Supports libdc1394-2.0.0-rc7 and libdc1394-2.0.1
MONO16 color coding is supported
- Testing and examples:
- example/calibration/calibrate2dGrid.cpp was added
- example/tracking/trackKltOpencv.cpp was added
- example/light/ringLight.cpp was added
- example/tools/parallelPort.cpp was added
- test/video-device/testClick.cpp was added
- test/video-device/testVideoDevice.cpp was added
- test/visual-feature/testFeature.cpp was added
- test/image/testCreateSubImage.cpp was added
- test/camera/testCameraParametersConversion.cpp was added
- Documentation improvement
- vpRobust::MEstimator()
- vpRobotAfma6: example usage of getPosition() was updated
- vpDisplayGDI is included in the doxygen documentation
----------------------------------------------
ViSP 2.4.1 (released May 16th, 2007)
- New classes
- vpRect class for rectangle manipulations, display
- vpHistogram,vpHistogramPeak and vpHistogramValey classes to
handle gray level image histogram
- vpSubPixel for sub-pixel manipulations
- vpMouseButton for mouse click identification
- New Features
- MinGW supported
- ViSP as a third party library in an other project.
It is now possible to use ViSP as a third party project without
installing ViSP by make install. ViSP can now be used
directly from the build dir, or from the install dir, or
from a package (NSIS, ...)
- vpRobotCamera It is now possible to add a sampling time so that
the behavior of this simulated camera is quite realistic. This
sampling time is set by default to 40 ms.
- vpExponentialMap A sampling time was introduced.
- Bug fix and improvement
- vpImage: getWidth() and getHeight() replace getCols() and getRows()
which are now obsolete.
- More restrictive types in vpImage, vpDisplay..., and vp...Grabber
classes: const are added, unsigned int replace int for pixel
manipulations and image or display size.
- In vpDisplay classes:
. vpMouseButton::vpMouseButtonType was introduced to handle
mouse clicks
. vpColor::vpColorType was introduced to handle colors to display
- Simulator functionality based on Coin usage is now available
under windows. It allows the use of vpSimulator class under this
platform.
- Compatibility with Windows platform.
- Reference documentation improvement
- cfox and std namespace were removed. To use cout you need to call
std::cout, std::endl, std::cin ...