Move the sources to trunk

[opencv] / ChangeLog

- Bugfix: added dma_unlisten to icvCloseCAM_DC1394 (thanks to Victor Benso)

=============================================================================
                      OpenCV 1.0, October 18, 2006
=============================================================================

>>> New functionality/features: <<<

  - General:
    * Windows installation package now includes precompiled Python module
    * Borland C++ (v5.6+) makefiles re-added (see _make\make_all_bc.mak)

  - CV:
    * Inpainting was added, see samples/c/inpaint.cpp
      (thanks to Alexander Kibkalo and Alexey Kalinichenko)

  - MLL:
    * Boosted tree classifiers added, see MLL reference manual

  - HighGUI:
    * Jpeg2000 and EXR support in highgui using JasPer and OpenEXR (thanks to Nils Hasler)
      OpenEXR is not built-in to highgui on Windows by default. See
      otherlibs/_graphics/readme.txt.
    * >8-bit image input/output for PNG, Jpeg2000 and OpenEXR (thanks to Nils Hasler)
    * Updated CMUcamera wrapper.
    * Several V4L2 improvements and fixes
  
  - New samples (opencv/samples):
    * Camera calibration sample: calibrate.cpp
    * Inpainting sample: inpaint.cpp
    * Letter recognition using the existing database with
      random trees/boosted trees/neural nets: leter_recog.cpp
    * A few new Python samples.

  - Tests:
    * Most old cv tests have been rewritten/converted to use cxts instead of trs.
      TRS is not used by the tests anymore.
    
>>> Bug fixes: <<<
     Many thanks to everybody who submitted bug reports and/or provided the patches!

     * Incorrect normalization in cvFindFundamentalMat (SF #1550855)
     * Occasional cvGetQuadrangleSubPix crashes (SF #1549168)
     * Occasional cvCalcOpticalFlowPyrLK crashes
     * Internal GCC 3.x error in cvFloor/cvCeil (SF #1546657)
     * Several Python-related bugs (SF #1570109, SF #1572800, SF #1543593)
     * Bugs in contour processing/rendering (SF #1550889, 
     * x86-64 related bugs (SF #1526133, SF #1527997)
     * OpenCV dispatcher tried to load old versions of IPP (pre 4.x)
       that caused many failures (see SF #1555093, for example)
     * Inaccurate results in some cases in cvFitEllipse, cvFitLine, cvHoughCircles.
     * Severe bug in Bayesian classifier, broken regression tree in MLL
     * Overflow in blurring filter
     * cvSaveImage() modified saved images leading to potential problems in threaded apps.
     * Numeric values in XML/YAML were emitted/parsed incorrectly
       on some non-US locales in Linux
     * VS2005 Express/Standard Editions could not build OpenCV
       (due to missing OpenMP support)
     * ...

>>> Known issues:
    * Certain tests may fail on IA64 (Itanium), e.g.
      gaussian filter, fundamental matrix estimation, chessboard detector.

=============================================================================
                      OpenCV 1.0 RC1, August 11, 2006
=============================================================================

>>> New functionality/features: <<<
  - New Compilers/Environments supported:
     * GCC 4.x 
     * Visual Studio .NET 2005.
       Note that: a) Project files .vcproj's and the corresponding solution files
                     have been converted to VS.NET 2005 format, thus they can not
                     be opened with VS.NET 2003. As a workaround, one may convert
                     project files and workspaces for Visual Studio 6.0 to VS.NET 2003.
                  b) The projects can be built for Win32 and x64 (a.k.a. EM64T/AMD64) platforms.
                  c) OpenMP support is turned on by default.
     * On MacOSX universal OpenCV binaries are now built by default, so both
       PPC and Intel Mac's are fully supported.
     * Borland C++ support has been removed. There is still script
       utils\gen_make.py available that can generate makefile.bcc's out of
       MSVC's project files (not tested with rc1).
     * New command-line makefiles _make\makefile.* are introduced that allow user
       to build OpenCV for Win64 (EM64T/AMD64 and Itanium). For details, see INSTALL file.

  - cxcore:
     * added several new functions:
       cvMixChannels, cvRandShuffle, cvRange, cvCalcPCA, cvProjectPCA, cvBackProjectPCA,
       cvNormalize, cvReduce, cvGetNumThreads, cvSetNumThreads, cvGetThreadNum.
       See docs/ref/opencvref_cxcore.htm for details.
     * extended cvCalcCovarMatrix, cvMulTransposed
     * added macros for the library version: see cxcore/include/cvver.h
     * added C++ classes CvImage and CvMatrix:
       see cxcore/include/cxcore.hpp and the sample samples/c/image.cpp
     * the maximum number of channels in matrices has been increased up to 64.
       though, only the basic functions can handle such images.
  - cv:
    * new functions:
      cvPyrMeanShiftFiltering, cvWatershed, cvGetAffineTransform.
      see docs/ref/opencvref_cv.htm for details.
    * extended:
      cvDistTransform (true distance transform algorithm),
      cvThresh (Otsu adaptive algorithm),
      cvCanny (using true gradient as an option)
    * all the filtering functionality has been reworked,
      new C++ classes for linear separable and non-separable filtering,
      morphology, laplace, box filer (blur) have been added.
      see cv/include/cv.hpp.
      The older C API is still supported and is preferrable sometimes
      (e.g. when IPP is used).
    ****** API changes:
      * cvCamShift, cvBoxPoints and all the other functions
        taking/returning an angle (as a field of the structure CvBox2D
        or as a standalone parameter) now measure the angles in degrees.

  - cvaux:
    * new large video surveillance module has been added
      (cvaux/src/vs and cvaux/include/cvvidsurv.h).
      It implements smart blob tracking. See the description at docs/vidsurv)
  - ml (stands for Machine Learining):
    * this is a completely new C++ module containing classes for statistical
      classification, regression and clustering. See docs/ref/opencvref_ml.htm.
  - highgui:
    * the whole video capturing code has been restructured and split by modules,
      better function names have been introduced (older names are supported via macros)
    * Quicktime (MacOSX) and Xine (Linux, (attention: watch the license!)) support added.
    * many small and big improvements have been made
      in most of the video capturing modules
    * a helper thread can be used to refresh highgui windows content w/o having to
      call cvWaitKey() (Linux only).

  - Bindings/interfaces:
    * IPP 5.1.* is now supported and this is a recommended version of IPP
      to use with OpenCV. One may build custom IPP DLL for easier binary
      redistribution (see interfaces/ipp)
    * Python bindings have been greatly improved and extended
      (see interfaces/swig[/python] and samples/python).

>>> Optimizations: <<<
  -  The following filtering functions have been significantly optimized
     using the new IPP 5.1 functionality:
     cvSobel, cvLaplace, cvErode, cvDilate.
  -  cvFilter2D now runs much faster with larger kernels (using DFT-based method)
  -  Several functions have been parallelized with OpenMP:
     cvHaarDetectObjects, cvCalcOpticalFlowPyrLK, cvDistTransform (the new algorithm only),
     so they should run ~50-80% faster on dual core CPUs, when the code is built
     with Intel compiler or MSVC2005 (as the precompiled OpenCV binaries are).

>>> Bug fixes: <<<

  -  A lot of bugs have been fixed. We would like to thank all the people
     who submitted bug reports and/or patches.
     This is incomplete list of the bugs fixed.

     * cvFilter2D (CVS version crashed occasionally)
     * cvInitUndistortMap mem leak
     * cvRodrigues2 (several bugs and numerical instability)
     * cvAdaptiveThresh incorrect handling of extreme cases
     * Graph traversal (cvNextGraphItem) failed on some graphs
     * Probabilistic Hough Transform mem leak and running beyond the buffers.
     * Numerous records in SF bug tracker have been adressed (below are
     the IDs of the records):
     1344667, 1458680, 1358957, 1358962, 1489946, 1176530, 1405941,
     1291046, 1307735, 1307660, 1297619, 1263481, 1295583, 1229649,
     1242376, 1184122, 1145216, 1115824, 1144060, 1106466, 1055967,
     1080061, 1034397, 1080669, 1068438, 1061664, 1067400, 952756,
     709670, 972533, 709670, 706225, 667748, 661480

>>> Known issues:
  - Some of the tests fail/crash on Win64:
    * EM64T/AMD64: tests for cvMatchTemplate and cvRemap fail
    * IA64 (Itanium): tests for cvDCT, cvDFT and cvCamShift fail, test for cvCanny crashes.

=============================================================================
                      OpenCV beta 5, Thursday, July 21, 2005
=============================================================================

>>> New functionality/features: <<<
  -  (Linux) Support for more cameras has been added in highgui.
     Different versions of libdc1394 can now be used.
     (thanks to Frederic Devernay for the new versions of cvcap_dc1394.cpp,
     cvcap_v4l.cpp and patches for configure script,
     thanks to Sfuncia Fabio for the patch for cvcap_v4l.cpp)

  -  (Linux) More types of video files can now be read by using libavformat
     and libavcodec from ffmpeg-0.4.9pre1
     (thanks to Frederic Devernay for new version of cvcap.cpp and patches for
     configure script)

  -  (Linux) Python wrappers for OpenCV have been created
     by Olivier Bornet and Mark Asbach using SWIG.
     See opencv/interfaces/python and opencv/samples/python.
     While the wrappers should be OS-independent,
     so far they have been built on Linux only.

  -  OpenCV now builds and runs on 64-bit platforms: EM64T (a.k.a. AMD64)
     and IA64 (Itanium). Extra configurations have been added to project files
     for MsDevStudio 6.0.

  -  Performance tests for cxcore and part of cv have been created.
     the output format is plain csv and is similar to the one used in IPP.
     run "cxcoretest -t" and "cvtest -t".

  -  Haartraining now automatically produces .xml database along
     with the usual directory tree.

  -  Script for creating custom dynamic library for a subset of IPP, used by OpenCV,
     has been created. Look at opencv/interfaces/ipp

  -  Several new functions have been added: Background/foreground segmentation
     (see cvaux/include/cvaux.h, "Background/foreground segmentation" section and
     cvaux/src/), cvHoughCircles (circle detection), cvPointPolygonTest,
     cvRemap (generic geometrical transformation), cvLogPolar (log-polar transform),
     cvEqualizeHist (histogram equalization), cvCornerHarris (Harris corner detector).

  -  Camera calibration and epipolar geometry functions have been completely rewritten,
     API was simplified, and docs updated.

  -  New checkerboard detection algorithm (based on Vladimir Vezhnevets' code)
     is now used.

  -  cvCvtColor supports new color models (HLS, CIE L*u*v*),
     for every RGB->something transformation the inverse is provided,
     32f format is completely supported, 16u is partially supported.

  -  Distance transform was extended to find the nearest connected component
     of zero pixels for every pixel, not only the distance to it.

  -  (Windows) Highgui now remembers positions of a last few opened windows in registry.

>>> Optimizations: <<<
  -  The following functions have been optimized by using IPP when it is available:
     morphology, linear and non-linear filtering (cvFilter2D, cvSobel, cvSmooth),
     template matching, color conversions, geometrical transformations (cvResize,
     cvWarpAffine, cvWarpPerspective, cvRemap), image moments
     
     And more with new IPP 5.0 (beta):
     haar object detection, LK optical flow with pyramids, undistortion.

  -  MatchTemplate has been completely rewritten to use DFT that resulted in
     1 or 2 order(s) of magnitude faster operation.
     Color images are now accepted (output is always 1-channel).

  -  C version of morphology with rectangular elements is ~1.5-2x faster than in beta 4.

  -  Most of image statistics functions have been rewritten with a noticeable performance gain.

  -  A few other functions have been optimized: threshold,
     background statistics accumulation, corner detectors (cvCornerMinEigenVal,
     cvCornerEigenValsVecs, cvPreCornerDetect), distance transform, median filter (3x3),
     lens undistortion

>>> Bug fixes: <<<

  -  A lot of bugs have been fixed, thanks to all the people who submitted bug reports
     and/or patches. The following functions have been fixed (this is incomplete list):

     * cvFilter2D (crashed on floating-point images)
     * cvDFT (bug in processing of long power-of-2 series),
     * cvWarpPerspective & cvWarpPerspectiveQMatrix,
     * cvSobel, cvErode, cvDilate, cvSmooth (occasionally ran beyond buffer boundaries)
     * cvApproxPoly (left extra points on edges)
     * cvConvexHull (handled 32f case incorrently)
     * cvMinEnclosingCircle (sometimes the circle is not enclosing: fixed partially)
     * cvFitEllipse (produced wrong results quite often, now it is much better)
     * cvCanny (bug in non-maxima suppression stage)
     * drawing functions (handled 16-bit images incorrectly)
     * persistence functions (cvLoad, cvSave, cvRead*, cvWrite* etc.) (several bugs)
     * color conversions (several bugs)
     * cvResize (bottom row processing)
     * Haartraining (several bugs)
     * motion templates (a few bugs)

=============================================================================
                   OpenCV beta 4, Friday, August 13, 2004
=============================================================================

>>> Global changes: <<<
  -  cv library has been split into
        cv (image processing and computer vision part)
        and cxcore (basic functionality that is shared with OpenPNL)

        so any application that was linked with cv should now be linked with both cv and cxcore.

  -  DLLs now have a version number (096 for beta 4) in their names, so they do not
     conflict with applications using libraries from previous (and future) OpenCV releases.
     Import libraries on Windows do not have version numbers in their names.

  -  Many of applications have been dropped/replaced with simple demo samples (see opencv/samples/c):
     - Hawk, HMMDemo, VMDemo and vmdemotk have been dropped completely.
     - LKDemo and cvlkdemo have been replaced with sample lkdemo.c
     - HaarFaceDetect has been replaced with facedetect.c
     - CamShiftDemo and cvcsdemo have been replaced with camshiftdemo.c

  -  Some of obsolete functions, including e-HMMs, eigen objects, view morphing ...
     have been moved from cv to cvaux.

  -  A lot of external dependencies have been removed together
     with corresponding demo applications: TCL/TK, FLTK, Motif, MFC

  -  Pre-built binaries in windows distribution are now built using Intel Compiler 8.x
     resulting in noticeable performance increase for many functions.
     
  -  On linux there is no cvcam anymore. Highgui should be used instead
     Windows version of cvcam is also obsolete and will be removed as soon
     as DirectShow support will be added to highgui.

  -  Interfaces for EiC, Ch and MATLAB have been temporarily dropped.

>>> New features/functionality: <<<

  -  Support for Miscrosoft Visual Studio .NET 2003 (see ../_make/*.sln) and
     Borland C++ BuilderX (see ../_make/cbuilderx/*.bpgr) has been added.

  -  More functions from IPP 4.x are supported.

  -  Support for 16u (16-bit unsigned) type has been added.

  -  New functions for arbitrary convolution (cvFilter2D),
     geometrical transformations (cvWarpAffine, cvWarpPerspective) have been added.
     Another 2 interpolation methods have been added to cvResize.

  -  XML input/output has been completely rewritten. Now arbitrarily
     complex structures may be easily read and very easily written to XML.
     In parallel, YAML (www.yaml.org) is supported.

  -  Haar object detection:
       - the code has been transferred to cv
       - trained classifiers are now stored in XML/YAML format
         (there is still possibility to load classifiers from directories).
       - support for classifiers trees, rather than cascades has been added
         (see opencv/apps/haartraining/)
       - more cascades for detecting frontal face, new cascades for detecting
         profile face and body have been added (thanks to David Bradley,
         Hannes Kruppa and Bernt Schiele). see opencv/data/readme.txt for details.
       - classifier for detecting frontal face has been removed from the code.

  -  Reference manual has been reorganized and it is now covers entire cxcore, cv
     and highgui libraries.

  -  New object-oriented test engine has been created. cxcore functionality
     has been tested using it (see opencv/bin/cxcoretest.exe,
     opencv/tests/{cxts;cxcore/src})

  -  All the drawing functions now support antialiasing and multi-channel images
     of arbitrary depth (earlier only single-channel images of depth>8bit were supported).
     Floodfill also supports color floating-point images now.

  -  Linux version of highgui now supports capturing video from cameras via
     dc1394 and/or V4L2 (thanks to Magnus Lundin for the patch) (not tested!)

  -  Linux version of highgui now uses GTK+ 2.x instead of Motif.

  -  Several patches by Premnath Dubey have been applied to Windows version of cvcam.
     It is now possible to set the camera resolution from within a program.

>>> Optimizations: <<<

  -  DFT functions now use mixed-radix algorithm and, optionally,
     DFT/FFT functions from IPP.

  -  Now matrix multiplication is done by blocks resulting
     in better cache utilization => better performance.
     Optionally, gemm from Intel MKL can be used.

  -  Lucas-Kanade Optical flow includes a few heuristics that significantly
     improve performance (thanks to Alexander Kibkalo for the patch).

  -  cvRound now uses inline assembly when built with Visual C++, Intel Compiler
     or GCC 3.x (the latter is done via C99 lrint() function). That also
     resolves the problem with Direct3D and few others (thanks to HCK (hengck23) for the hint).

  -  Morphology with arbitrary-shaped element now processes only
     the neighbors corresponding to non-zero coefficients (so cvFilter2D does)
     in a single loop that gives +1.5x performance increase.

  -  alloca() has been replaced by cvStackAlloc that returns an aligned pointer.
     For some functions it improved performance a lot.

  -  Arithmetic operations with mask are now done using non-mask operations +
     copy with mask. It helps to engage IPP for such operations and is in general faster.

  -  cvSeqSort and generic sorting macro (CV_IMPLEMENT_QSORT...) now use Berkeley qsort
     that almost eliminates the worst (quadratic complexity) case and
     improves performance on nearly-sorted sequences.

  -  Some typical operations on data structures, such as retrieving sequence element,
     retrieving graph edge, positioning sequence reader have been optimized for
     faster average performance and smaller overhead.

  -  Special vectorized versions of double-precision math functions (cvExp, cvLog etc.)
     have been created. Optionally, ippvm from IPP is used when available,
     which gives incredible performance improvement.

>>> Bug fixes: <<<

  (this is an incomplete list ...)
  -  Several bugs in cvSVD and cvSVBkSb have been fixed.
     Thanks to Siddhartha Chaudhuri, John Coady and others for the reports and patches.
  -  Probabilistic hough transform crashed
     Thanks to Dave Grossman, Michael Bunk and others for the report.
  -  Haartraining worked incorrectly without IPL.
     Thanks to Robert (robert_021202) and others for the report
  -  [SF bug #883138] in cvhaartraining library, function cvCreateMTStumpClassifier()
     number of features was used instead of number of samples for memory allocation.
     (Though, it did not cause troubles with the small-to-medium training databases we used)
     Thanks to Alberto Albiol for the patch.
  -  In haartraining the code for scaling features in case of using different from "standard" 24x24 window
     was buggy. Thanks to Vasanth Philomin for the report.
  -  cvMahalanobis() crashed on rows (not columns). Thanks to Irina Shevtsova for the patch.
  -  CV_IMAGE_ELEM() macro has incorrect.
     Thanks to Gabe (gjbrostow), Nicola Bellotto and many other people for the report and the patch.
  -  Highgui had shift and control switched in Windows.
     Thanks to Gabe (gjbrostow) for the patch
  -  Matrix multiplication worked incorrectly on some small matrices.
     Thanks to Changwen Xie for the report)
  -  Stereo camera callibration contained buggy code for translation vector conversion.
     Thanks to Ed Staub for the report)
  -  cvRound worked incorrectly in single-precision FPU mode.
     Thanks to Altay Murat and other people for the report and to HCK for the suggested solution.
  -  cvRepeat worked incorrectly with multi-row source array
     Thanks to Roman Stanchak for the patch.
  -  Code for computing fundamental matrix could not be compiled under Linux
     Thanks to Arngrimur Bjarnason, Shane Frasier and other people for the report.
  -  [SF bug #937948]. MinEnclosingCircle did not returned _enclosing_ circle for some near-singular point configurations.
     Thanks to unknown author for the report and the test sample.
  -  [SF bug #926708]. cvConvexityDefects contained invalid error checking code.
     Thanks to unknown author for the patch.
  -  [SF bug #925821]. CalibFilter crashed on bottom-origin images.
     Thanks to Philip Gruebele for the fix.
  -  [SF bug #910296]. CImage::Create() did not check depth of already existing image.
     Thanks to unknown author for the patch.
  -  [SF bug #883199] cvInitMatHeader() did not initialize data pointer correctly.
     Thanks to Zhang Li for the report.
  -  In cvMinEigenVal kerSize was not actually used instead of blockSize.
     Thanks to Frederic Devernay for the patch.
  -  VFW capturing code in highgui created capturing window incorrectly.
     Thanks to John Nagle for the patch.
  -  cvMoments gave inaccurate results (1-pixel shift).
     Thanks to Walter Vanzella for the report.
  -  n-dimensional matrices have been initialized incorrectly.
     Thanks to Ziqiang Liu for the patch.
  -  Rotating calipers code, used in cvMinAreaRect2, handled almost collinear line segments
     incorrectly. Thanks to vamfun for the patch (although the fixed it a little bit differently,
     but used the same idea).
  -  In highgui 16-bit BMP could not be loaded.
     Thanks to Latha for the report.
  -  cvCalcEMD2 checked the size of output flow matrix incorrectly.
     Thanks to Duckhoon Kim for the patch.
  -  [SF bug #898556] cvGetDimSize() always returned error. Thanks to unknown author for the report.
  -  Multiple bugs in the reference manuals have been fixed. Thanks to Irina Shevtsova, Pavel Yarykin,
     Stepan Dilman and others for the reports.
  -  Several patches for better portability to Linux and IA64 have been applied
     Thanks to Sam Hocevar.
  ...


=============================================================================
                   OpenCV beta 3.1, Thursday, February 27, 2003
=============================================================================

>>> New features/functionality: <<<

  -  Fourier and Cosine transforms have been added (cvDFT & cvDCT)
  -  CV_CAP_PROP_FRAME_COUNT property was added to CvCapture interface in HighGUI
     (thanks to Asim Shankar)
  -  Now some basic functions like cvAlloc, cvCreateMat, cvAdd etc. can handle
     huge (>4Gb) matrices on 64-bit platforms (and, probably, 2-4Gb matrices on
     32-bit Linux versions with specially patched kernels)
     as long as their linear sizes still fit into 0..INT_MAX.
  -  Another boosting base for frontal face detection (Gentle Adaboost 20x20) added:
     opencv\apps\HaarFaceDetect\Frontal-GAB-20x20.zip. Uncompress it somewhere and
     then you may pass the folder path to cvLoadHaarClassifierCascade() instead of
     "<default_face_cascade>". Do not forget to change window size to 20x20 instead of 24x24.
  -  Support for CH 3.5.0 (thanks to Wayne Cheng). 
     CH is a scripting C/C++-like language - see www.softintegration.com for details

>>> Bug fixes: <<<

  -  ipl.h was included incorrectly. 
  -  Documentation and tests on 3dTracker have been updated, demo AVIs included.
  -  cvSVD gave incorrect results if one of orthogoal matrices (U,V) was missing. 
  -  cvSVBkSb gave incorrect results if matrix was a singular.
  -  cvSolve gave incorrect results in case of small matrices (<= 4x4)
  (thanks to Danielle Shor for reporting that and for the proposed solution on SVBkSb)

  -  cvSolve and cvInvert damaged stack in some situation (CV_LU method)
  -  cvDrawContours could not draw a single contour
  -  highgui didn't allow ',' and '%' symbols in the file paths under Win32
     (thanks to Dirk (yahoo@nogga.de)). ';' is still not allowed, because it is used
     as a list separator for directory names.
  -  built RPM could only be installed with --no-deps option.
  -  Memory leak and CvSeq-related bug in persistence functions
     (thanks to Danielle Shor)
  -  "list" parameter name in cv.h conflicted with STL (thanks to Rud Merriam)
  -  few patches from John Nagle have been incorporated (creating window in cvcap.h,
     forcing "double sqrt(double)" overloaded function selection in C++ etc.)
  -  Two bugs in face detection (feature weigth calculation) and haartraining have
     been fixed (thanks to Vasanth Philomin for the reports and bug-fixes)
  -  Memory leak in cvReleaseHist (thanks to Renatus Rohde)
  -  Slow refresh of highgui windows under Linux.
     The updated version uses shared mem extension.
  -  cvcam failed sometimes when connecting two cameras
     (Brian <the_sound_god@yahoo.com> provided patches to fix that)
  -  cvReshape had the following bugs:
        non-null reference counter,
        NULL pointer as return value,
        error message on nch=0 (which contradicts with documentation)
     (Thanks to Cem DEMiRKIR <cdemirkir@hotmail.com> and <dalcalde@icarvision.com>)
  -  cvRodrigues crashed sometimes (Thanks to <xeenja@yahoo.de> for the patch)
  -  a few others (thanks to the people who reported about misc.
                   problems in beta3 and/or proposed the patches)

=============================================================================
                   Release OpenCV beta 3, Wednesday, November 27, 2002
=============================================================================

>>> New features/functionality: <<<

  -  new more or less complete HTML reference (the grammar might be not very good)
     see docs/ref

  -  open source stereo code (modified variant of birchfield algorithm).
     see cvaux/src/cvdpstereo.cpp)

  -  Efficient face detection algorithm working with Haar-like features,
     originally proposed by Paul Viola and improved by Rainer Lienhart
     has been implemented. See opencv/apps/haarfacedetect demo

  -  two FLTK-based demos: stereo and face detection
     (apps/StereoDemo, apps/HaarFaceDetect)

  -  IPL dependency has been removed from all the libraries and demos 

  -  new installers for Windows (Inno Setup) and Linux (RPM generation using OpenCV.spec)

  -  RANSAC algorithm for fundamental matrix computation has been implemented 
     Function cvFindFundamentalMat is the new unified function for
     fundamental matrix estimation and includes 7point, 8point, LMeds & RANSAC
     algorithms.

  -  3d Tracking added (I didn't tested it)

  -  contour skeletons and linear contour models (cvaux\src\cvlee.cpp & cvlcm.cpp).
     no examples/docs yet.

  -  lot of improvements in highgui:
     full support for JPEG, PNG, TIFF via libjpeg, libpng, libtiff.
     grayscale images can now be saved and loaded
     displaying current slider value,
     platform independent mouse callbacks,
     usable Linux version (Motif-based),
     video processing:
         Win32: VFW/MIL video capturing, frame-accurate avi reading/writing/positioning.
         Linux: AVI reading via FFMPEG
     see samples/c - all of them use highgui (ffilldemo.c demonstrates mouse handling,
                                     motempl.c & facedetect.c - video processing etc.)

  -  Data persistence: ability to save/load scalar values, arrays, sequences, graphs and
     user-defined data structures to/from XML files has been added
     see cvRead/cvWrite functions description in the manual

  -  a lot of improvements in computational geometry and sequence processing
        + support for floating-point/integer coordinates,
        + Most of the contour/point_sequence operations can work with arrays now.
        + Sequences now have CvMat compatible type id
          (e.g. CV_32SC2 ~ CvPoint, CV_8UC1 - byte sequence etc.)

  -  a few small demo scripts added (samples/c)

  -  somewhat improved MATLAB interface, a few demos for it (interfaces/matlab)

  -  Ch C/C++ interpreter interface (see interfaces/ch)

  -  new (actually, the classical one) adaptive threshold algorithm (C-mean)
     replaced the old buggy code (cv/src/cvadaptive...)

  -  cvSolve & cvInvert now supports CV_SVD method (pseudo inverse).

  -  Bayer->RGB conversion has been added
     (the original code was submitted by Dirk Schaefer)
     See cvCvtColor description in the manual

  -  cvSmooth function added that can perform Averaging (simple Blur),
     Gaussian, Median or Bilateral smoothing.

  -  Matrix/vector operations have been extended:
        cvGEMM  - BLAS-style extended matrix multiplication
                  (value1 * Array1[^t] * Array2[^t] + value2 * Array3[^t])
        cvAddWeighted - linear combination of 2 arrays with a shift
                        (value1 * Array1 + value2 * Array2 + value3)
        cvCmp, cvInRange - comparison functions.
        cvDiv - element-wise division.
        cvMul [modified] - scale factor added,
        cvMin, cvMax - per element min/max
        etc.

  -  Floodfill has been greatly extended:
      + color images support has been added
      + fixed range option has been added (when the range is set relatively to
        the seed point - not a neighbor point)
      + a mask that marks alredy filled points can be passed to the function
      See cvFloodFill description in the manual

  -  Motion segmentation is now more or less ok.
     See samples/c/motempl.c demo script (run it on camera if possible)

  -  All math functions now work with CvMat/IplImage -
     not with raw floating-point arrays
     see cvCartToPolar, cvPolarToCart, cvPow, cvExp, cvLog
     description in the manual

  -  RNG can generate normally-distributed random numbers
     see cvRandInit description in the manual

  -  Histogram structures and functions have been completely reworked.
     + Now they contain dense (CvMatND) or sparse (CvSparseMat) arrays,
       so arbitrary array processing functions can be applied to it.
     + cvSetHistBinRanges is now optional when histogram or back projection
       is calculated using 8u images.

  -  Camera.cpp in apps/common now supports format decompressor (ICM), so
     LkDemo and HMMDemo can work with arbitrary video formats.

>>> Bug fixes: <<<
  -  CvImage destructor had memory leak  
  -  cvInvert & cvSolve process 2x2 and 3x3 matrices correctly now (finally).
  -  cvMul didn't work correctly for small matrices
  -  cvConvertScale had a bug in inplace mode
  -  cvvShowImage in highgui for Linux "was only working by luck"
     (thanks to David Ackley for the patch)
  -  Reading PPM files caused a crash (thanks to Michael D. Beynon for the patch)
  -  Makefiles for Borland C++ free 5.5 were fixed
     (thanks to Ben Terraint for the patch),
     processor detection code was rewritten to avoid inline assembly, so
     TASM is not needed anymore.
  -  cvPyrDown failed if the source image does not have even width and height
  -  EMD bug has been fixed
  -  Memory leak in cvFindChessBoardCornerGuesses fixed
  -  ConvexHull removed points lieing on the convex hull line segments
  -  Reading images using highgui in multiple threads caused crash
  -  Various memory leaks with CvImage have been fixed by removing static configuration
     of cv library. Now it is dynamic only.

>>> The following problems have been noticed or may still remain: <<<

  -  IppCV is not shipped. Download it separately from Intel site.
  -  Affine optical flow may still not work
  -  HMMDemo recognition results greatly depend or lighting conditions.
  -  Documentation and examples for most of cvaux functions are not provided
  -  3dTrackerDemo has not been tested,
     because of older DirectShow graph format in the package.
  -  IPL headers being included after OpenCV headers cause compiler error.
     So, include ipl.h _before_ cv.h[pp]
  -  Highgui scripts working with sliders may crash upon exit
     when build with Borland C++ 5.5
     
=============================================================================
                   Release OpenCV beta 2.1, Friday, November 30, 2001
=============================================================================

>>> New features/functionality: <<<

  -  IPL is not required nor by OpenCV neither by demos anymore
     (even under Win32 and even in default configuration).
     Tests still need it. To get into full IPL-compatibility mode, call
     CV_TURN_ON_IPL_COMPABILITY() on your program startup. It is needed only if
     the code mix OpenCV/IPL image allocation/deallocation functions. 

  -  Makefiles to build cv, cvaux and highgui libraries with Visual C++ 6.0,
     Borland C++ 5.5 (free), Intel C++ Compiler 5.0 and Mingw GNU C++ 2.95.3 added.   
  -  Arithmetic and logical operations (w/o mask support) were optimized using
     MMX and SSE instructions.
  -  Positions of depth and numchannels flags in CvMat "type" field were exchanged.
     Now CV_8U == CV_8UC1, CV_32F == CV_32FC1 etc.
  -  Definition of rows/height and cols/width fields of CvMat was changed to provide
     C -> C++ code compatibility.
  -  Non-planar objects support added into cvFindExtrinsicParams 
  -  A few more color transforms bgr/rgb <-> gray added.
  -  New function cvRand for filling CvMat/IplImage with uniformly distributed
     random numbers added
  -  New function cvResize for image zooming/shrinking with nearest-neigbor
     or bilinear interpolation was added
  -  Texture descriptors calculation was added to cvaux library.
  -  Faster image segmentation was added to cvaux library
  -  new ippcv binaries included (previous release contained somewhat outdated binaries).
  -  calibration filter uses batch-mode undistortion now (cvUnDistortInit + cvUnDistort)
  -  C++ calibration + stereo rectification class was added to cvaux.

>>> Here is the list of fixed bugs: <<<

  -  3x3 matrix inversion was incorrect
  -  minmaxloc returned wrong extrema positions in case of
     continuous input arrays (i.e. w/o gaps between subsequent rows)
  -  arithmetic operations cvAddS and cvSub[R]S produce wrong result on small
     input arguments
  -  the package could not be built with gcc 2.96 under linux
  -  cvFillImage function was missed 
  -  cvRound, cvFloor and cvCeil functions worked incorrectly
     when 80-bit internal precision was set (it is a default mode under Linux).
     Also, the function were slightly inaccurate even with 64-bit internal precision set.
  -  cvRound, cvFloor, cvCeil and cvSetIdentity functions worked incorrectly at
     big-endian processors (i.e. on processors, where the most significant byte goes first)
  -  Several pieces in the library were not portable to 64-bit processors
  -  cvFindChessBoardCornerGuesses could not find chess board in some particular cases.
     The current solution is just some workaround and playing with thresholds.
     Better method is ahead.

The following problems still exist:
======================================
1. FitEllipse doesn't work properly when input points are almost on the single line.
   In alpha 3.4 it output infinite values. In this release it outputs all zeros.

2. FindFundamentalMatrix - the same. Inaccurate result in some cases.
 

=============================================================================
                   Release OpenCV beta 2, Friday, August 14, 2001
=============================================================================

  1. CvMat structure can be used passed to almost any function that accepts IplImages
     and vice versa. It is done via introduction of dummy type CvArr which is synonym
     for void*.
  2. The following basic matrix/image operations were added:
      arithmetics (+,-,*)
      logic (and,or,xor)
      helper operations (copy,set,mirror)
      color transforms

      arithmetics (+,-) and logic operations accept mask as an optional parameter

  3. The library reference manual has been restructurized. Now all the material is
     divided into programmer guide and function reference. Each of these parts
     is split into 6-7 major areas, covered by the library.

  4. Image statistics, background accumulation and some other function groups
     extended to handle wider sets of images/matrices formats.

  5. Mask support added to cvGoodFeaturesToTrack

  6. Drawing functions can now be used with floating-point images and extended
     with 4-connectivity variants (connectivity is passed as an optional parameter).
     cvDrawContours accept negative maximal level value, which means draw (or paint)
     the passed contour and all its children up to abs(max_level) level, so
     hack with clearing h_next field during connected components labeling is not
     need any more.

  7. cvSVD improved. It can now handle both m >= n and m < n cases and it is faster
     than the previous variant. cvPseudoInv function is added that calculates
     pseudo-inverse for given matrix (Only m >= n is handled properly right now).

  8. cvSeqPush[Front] and cvSeqInsert return pointer to the inserted element.

  9. More experimental stuff has been added (including graph traversal functions,
     etc). It resides in the separate library CvAux

  10. Morphology functions speeded up (arbitrary structuring element case).

>>>Here is list of bug fixes:<<<

The following bugs have been fixed still OpenCV beta 1:
==========================================================

The library:
-------------

1. Scharr filter now works properly. Use cvSobel with aperture size = CV_SCHARR.


The following problems still exist:
======================================
1. FitEllipse doesn't work properly when input points are almost on the single line.
   In alpha 3.4 it output infinite values. In this release it outputs all zeros.

2. FindFundamentalMatrix - the same. Inaccurate result in some cases.

=============================================================================
                   Release OpenCV beta 1, Friday, January 12, 2001
=============================================================================

  1. Intefaces of many functions have been changed. See interface_changes.txt for
     details.
  2. Plenty of bugs have been fixed.
  3. Manual has been improved greatly - many bugs have been fixed, index added.
  4. StereoGR application has been included into the package.
  5. Some of experimental stuff has been added. It resides in the separate library CvAux

>>>Here is status on bugs:<<<

The following bugs have been fixed still OpenCV alpha 3.4:
==========================================================

The library:
-------------

1. Kalman tracker worked incorrectly in the case when number of state parameters
   and measurement parameters were different.
2. Kalman filter didn't released some memory in cvReleaseKalman
3. ConDensation filter crashes when pointer to output data is NULL, now the
   additional check is added.
4. MulTransposed produced inaccurate results in some cases.
5. Perspective Transform function failured when taking certain input (valid) parameters.
6. EigenVV function corrupted memory (Jacobi method)
7. PreCornerDetect corrupted memory.
8. Threshold crashed on P4.
9. Laplace crashed in most of cases.
10. Optimized DLL loaded has been fixed to recognize P4
11. Segment Motion produced incorrect results
12. Rodrigues produced wrong results in some cases.
13. Convex hull output duplicating points in some cases.
14. Active contour functions didn't handle CV_ARRAY flag properly.
    cvSnakeImageGrad had not worked at all.
    Note, that cvSnakeImageGrad is now the default mode of cvSnakeImage.
15. Camera calibration had memory leak
16. FloodFill had memory leak
17. AdaptiveThreshold had memory leak
18. CalcHistMask had memory leak
19. HMM recognition pipeline had serious algorithmic bug that affected on
    recognition rate.
20. One of OptCV functions had memory leak.
21. Error codes of low-level and high-level parts of the library were inconsistent
    that often caused confusing error messages.
22. ApproxChains sometimes output one extra point in "simple" approximation mode.
    Note, that "simple" mode worked correctly in FindContours.
23. ApproxPoly didn't approximate large contours properly.
24. GetRectSubPix crashed when center of extracted rectangle was outside the image
25. FindChessCornerGuesses almost never detected chess board corners at
    640x480 resolution.
26. Ellipse was drown incorrectly in some combination of axes sizes and rotation angle.
27. PtInCircle function (_cvgeom.h) worked incorrectly
28. cvReadChainPoint worked incorrectly with chains with more that one sequence blocks.
29. Central moments of contours were wrong.

Applications and other libraries
--------------------------------------
1. High GUI sometimes did wrong image conversion.
   Also, some superfluous conversion have been removed.
2. Spaces in Hawk executble path caused incorrect program behaviour.


The following problems still exist:
======================================
1. FitEllipse doesn't work properly when input points are almost on the single line.
   In alpha 3.4 it output infinite values. In this release it outputs all zeros.

2. SVD still has problems - inaccurate result in some cases.
3. FindFundamentalMatrix - the same. Inaccurate result in some cases.


=============================================================================
                   Release OpenCV 00.00.34, Monday, October 23, 2000
=============================================================================

  I. Instead of one set of optimized DLLs we have now two: OptCV and IppCV.
     Windows and Linux versions are supplied. Much more optimized codes
     are engaged by OpenCV.

---------------------------------------------------------------------------------

  IIa. The following bugs have been fixed:
  1. Memory leaks in HMMDemo.
  2. Crashes in multi-threaded allocations.
  3. Compilation bug on Linux (comparing integer with pointer)
  4. Incorrect behavior of DP polygon approximation in some cases.
  5. K-means bug (it performs no more than 2 real iterations)
  6. Threshold bug has been fixed (given unaligned data, it crashed on PIII)

  6.5. The repeatedly reported bug in MatchTemplate has been fixed in previous release.
  
  IIb. The following bugs are still present in the library:
  1. cvFindExtrinsicCameraParams[_64d] doesn't handle non-planar objects properly
     (i.e., it fails when some of 3rd coordinates of object points are non zero)
  2. The noticed bugs in the manual present in old variant, new variant
     (which is incomplete yet) is fixed.
  3. Motion segmentation still produces incorrect results, but they are better than
     previous version.

  Not a bug, but a mis-feature: OpenCV still depends on IPL.
  
  IIc. The following bugs could'nt be reproduced by the team:
  1. cvGoodFeaturesToTrack doesn't support ROI smaller than image.
  2. cvCalcOptFlowPyrLK crashes at 640x480 resolution.

  IId. Newly appeared known bugs:
  1. cvMinEigenVal doesn't work properly now.
  2. Therefore, cvGoodFeaturesToTrack produces incorrect results.


=============================================================================
                   Release OpenCV 00.00.33b, Monday, September 13, 2000
=============================================================================

  I. License is fixed to confirm Open Source project status.
     It is placed into all headers.

---------------------------------------------------------------------------------

  VIIIa. The following bugs have been fixed:
  1. A bug, preventing OpenCV from loading primitives, has been fixed (again!).
  2. Caliration filter has been fixed (error was present only in "September 4" release).
  3. Several bugs in delaunay+voronoi subdivision functions have been fixed.
     Script delaunay.c is added to demostrate their work.

  VIIIb. The following bugs are still present in the library:
  1. cvFindExtrinsicCameraParams[_64d] doesn't handle non-planar objects properly
     (i.e., it fails when some of 3rd coordinates of object points are non zero)
  2. The noticed bugs in the manual present in old variant, new variant
     (which is incomplete yet) is fixed.
  3. Motion segmentation still produces incorrect results, but they are better than
     previous version.

  VIIIc. The following bugs could'nt be reproduced by the team:
  1. cvGoodFeaturesToTrack doesn't support ROI smaller than image.
  2. cvCalcOptFlowPyrLK crashes at 640x480 resolution.

=============================================================================
                   Release OpenCV 00.00.33a, Monday, September 4, 2000
=============================================================================

  I. OpenCV begins use new IPP libraries. Because IPP works not only on Win32
     systems, but under Linux as well, it allows to use IA32-optimized codes
     under Linux. The IPP binaries are called ippa6.dll,ippm6.so etc.

  II.Calibration application by Chris Halsall has been included into Linux version
     of the library. Visit www.wabbit.com/ocv for more information and updates.

  III. We moved to IPL v.2.2.

  IV. Vision Scripting Environment (a.k.a Hawk) has been included into package.
      It is application that integrates C iterpreter (modified version of
      EiC. Original EiC site is located at http://www.kd-dev.com/~eic/),
      simple graphic library (highgui) and OpenCV+IPL (but, actually, any shared
      library can be attached to the application as plugin).
      The application allows write and run short scripts in C
      and see graphical results. Look at doc\Hawk.pdf for details.

  V. Updated calibration toolbox for MATLAB has been included into the package.

  VI. Adaptive threshold and draft code for planar subdivisions (delaunay triangulation &
     voronoi tesselation) have been added to the library.

  VII. More than half of manual has been refined, many bugs/misprints have been fixed.
       It is put to doc\OpenCV_new.pdf file. Old version is still available, because
       it is more complete for the moment.

---------------------------------------------------------------------------------

  VIIIa. The following bugs have been fixed:
  1. cvFloodFill works incorrectly with images, which height is 2.

  VIIIb. The following bugs are still present in the library:
  1. cvFindExtrinsicCameraParams[_64d] doesn't handle non-planar objects properly
     (i.e., it fails when some of 3rd coordinates of object points are non zero)
  2. All the noticed bugs in the manual stil present.
  3. Motion segmentation produces incorrect results.

  VIIIc. The following bugs could'nt be reproduced by the team:
  1. cvGoodFeaturesToTrack doesn't support ROI smaller than image.
  2. cvCalcOptFlowPyrLK crashes at 640x480 resolution.

=============================================================================
                   Release OpenCV 00.00.33, Tuesday, August 1, 2000
=============================================================================

  I. The following bugs have been fixed:
  1. cvRodrigues: checks for null input pointers were absent.
     Also, calculation of Jacobian has been made optional.
  2. Due to Daniel Small: SVDsym routine in cvCalibration has loop with
     incorrect counter incrementation.
  3. Due to Michael Strnad: Optimized DLLs were not loaded properly in Release
     configuration.

  II.The following new functionality/features have been added:
  1. Linux port of the library has been prepared. It has been done independently
     from Andy Tai package. It includes IPL version for Linux


  III. The following bugs are still present in the library.
  1. cvFindExtrinsicCameraParams[_64d] doesn't handle non-planar objects properly
     (i.e., it fails when some of 3rd coordinates of object points are non zero)
  2. All the noticed bugs in the manual stil present.

=============================================================================
                   Release OpenCV 00.00.32, Tuesday, Jule 4, 2000
=============================================================================

  I(a). CV library
  The following bugs have been fixed:
  1. cvCalcBackProject crashes due to invalid code, produced from
     construction
       __try
       { ; /* !!! */
          // code ...
       }
       __finally
       {
          // more code ...
       }
  2. cvCalcHist crashes if cvSetHistThresh is not called before it.
  3. Kalman filter checks Measurement vector size incorrectly.
  4. cvMatchTemplate checks output image size incorrectly.
  5. cvNormMask doesn't work properly when DLLs with optimized codes present.

  I(b). The following new functionality/features have been added:
  1. cvProjectPoints exposed in the external interface
  2. Pyramids' performance have been improved by 15-30% for unsigned char and char
     formats (downsampling functions, non open source codes).
  3. Faster version of cvUndistort has been added. It uses precalculated table,
     that is initialized by cvUndistortInit function. The former functions has been
     renamed to cvUndisortOnce.

  II. Other Libraries
  1. Bug fixed: color JPEG were read incorrectly by cvlgrfmts

  III. Filters/Applications.
  1. Bug fixed: Sometimes incorrect (empty) position could be selected in image base
     view.
  2. The following features have been added to HMMDemo:
     + Buttons "Select whole image" and "Delete HMM info" have been appeared on toolbar
     + Multiple images can be loaded and added to the base
  3. Behaviour of CalibFilter has been changed. Now it works with top-origin images
     instead of bottom-origin ones.

  IV. The following bugs are still present in the library.
  1. cvFindExtrinsicCameraParams[_64d] doesn't handle non-planar objects properly
     (i.e., it fails when some of 3rd coordinates of object points are non zero)
  2. The following known bugs/drawbacks in the documentation still exist:
     2.1) In the manual, page 5-10, cvSobel: The description is for cvLaplace.
     2.2) Examples of pixel access macros are absent.

=============================================================================
                   Release CVL 00.00.31, Monday, June 5, 2000
=============================================================================

General
---------------------------------------------
o   Web Site, describing the library, has been created
o   Official documentation on applictions and DShow filters has been added.
o   Library manual was completed
o   CV library binaries are DLLs now.


Functionality improvements/extensions/addings
---------------------------------------------

o   DShow tracking filters' interface has been simplified
o   A few bugs in the library and applications fixed.


=============================================================================
                   Release CVL 00.00.30, Friday, May 29, 2000
=============================================================================

General
---------------------------------------------
o   Additonal documentation have been added.
o   Library executables were renamed to CV[d].lib


Functionality improvements/extensions/addings
---------------------------------------------

o   cvGoodFeaturesToTrack has been improved
o   congruental RNG was replaced with MWC.


Optimization
--------------------------------------------------------------------

o   4 of pyramids functions have been optimized for WMT


=============================================================================
                   Release CVL 00.00.29, Friday, May 19, 2000
=============================================================================

General
---------------------------------------------
o   Many documentation have been added.


Functionality improvements/extensions/addings
---------------------------------------------

o   Application for Lucas-Kanade pyramid optical flow tracking was implemented
o   Matrix functions have been wrapped.
o   Script for gesture recognition was corrected to work with CVLib
    Its name is create_hand_mask_new.c.
o   Interface of camera calibration filter has been simplified another time.
    

=============================================================================
                   Release CVL 00.00.28, Monday, May 15, 2000
=============================================================================

General
---------------------------------------------
o   CVL was renamed to CVLib.
o   All the existing classes and functions of CVL changed their prefices to cv(Cv) -
    Their declarations are in CV.hpp now
o   All the low-level functions (C versions) were copied from ippCV to CVLib.
    Their prefices are _cv, header is _CV.h.
o   Wrappers have been made for almost all low-level functions.
    Their declarations are in CV.h (it is a main library interface file)
o   Most of the wrappers have been tested (IppCV tests have modified to call wrappers).
o   Binaries of ippCV were renamed to cvXXX.dll. They can be loaded by special 
    CV function - 
o   Almost all the applications (VMDemo, Hawk, Calibration filter,HMMDemo)
    have been modified to call new library.


Functionality improvements/extensions/addings
---------------------------------------------

o   Application for Hidden Markov Models demonstration has been implemented.
o   Calibration pipeline has been completely reorganized to do all the calculations
    in double precision.
    

Optimization
--------------------------------------------------------------------

o   HMM has been greatly speeded up (~10 times)  due to faster log,exp implementations.


=============================================================================
                   Release CVL 00.00.27, Saturday, April 29, 2000
=============================================================================

General
---------------------------------------------
o   ippiCVL was renamed to ippCV everywhere

Functionality improvements/extensions/addings
---------------------------------------------

o   Calibration filter has been slightly improved:
      Filter state is saved/restored when filter graph is saved/loaded.
      Restriction on etalon square size was weaken, so larger etalon can be handled
      Bug fixed. Now, etalon parameters can be changed.

o   Tested Lucas-Kanade pyramid based optical flow is in the library already!
    (Several bugs were fixed).
o   Histograms:
      Multi-dimensional histograms (on balanced trees) have been trasferred to ippCV.
         All the functions tested.
      CalcBayesProb function was added (it calculates P(object[i]|observation) i=1,n
       given histograms H(observation|object[i])) 
o   Version of HMM face recognition added into project. Data structures were simplified
    (comparing to draft version)
o   Script, implementing recognition part of gesture recognition pipeline, has been written
    and tested on recieved data (from MATLAB package)
o   SVD function (double precision) was added and tested.

Optimization
--------------------------------------------------------------------

o   Function for retrieving observations from the raster image (few DCT coefficients from
    every blocks (which are overlapped)) has been optimized in C and for MMX. Gain is >10x.
o   PX version of convolution functions (Sobel family filters) have been optimized.
    Performance gain is >3x.
o   New versions of functions from "eigen objects" group have been optimized for PIII.

=============================================================================
                   Release CVL 00.00.26, Friday, April 14, 2000
=============================================================================

General
---------------------------------------------
o   IPPM has been embedded into ippCV. External functions were placed into
    ippiCvl.h

Functionality improvements/extensions/addings
---------------------------------------------

o   Calibration filter has been improved:
      Interface simplified - buttons "Track etalon", "Enable processing" have gone.
      Loading camera parameters implemented.
      Bug fix: 3D window closes when filter is deleted. Also it can be hided/shown
      dynamically. 
      Sub-pixel corner finder is implemented. It is activated by switching "Fine tuning"
      check box.
      Camera parameters are shown in status window
      View blinks when frame is grabbed

o   Extracting rectangle with sub-pixel accuracy was added.
o   Lucas-Kanade pyramid based optical flow was added (not tested yet).
o   Histograms:
      BackProjectPatch was implemented.
      Wrappers for CalcHist and CalcBackProject were added.
o   Draft version of HMM face recognition.
o   Eigen Objects functions were extended to support partite input/output
o   Several functions for gesture recognition pipeline:
      2D line fitting with several metrics (ippiFitLine2D). 
      Batch perspective transform on array of 3D points. (ippiTransformVector3x1P_32f)
      Projecting array of 3D point to one of the coordinate plane (ippiProject3D)
      Calculation of image homography matrix (ippiCalcImageHomography)
      Finding initial hand region (ippiCreateHandMask)
o   Function for calculating minimal eigen value for raster image has been added.
    (ippiCornerMinEigenValC1R)
o   Hough transform (multi-scale version) has been improved to handle correctly
    case of big angle delta

Optimization
--------------------------------------------------------------------

o   2D line fitting has been optimized using MMX/SSE (gain 60-100%).
o   ippiCornerMinEigenVal(8u/8s/32f)C1R has been optimized for MMX/SSE (gain ~200%)


=============================================================================
                   Release CVL 00.00.25, Thursday, March 31, 2000
=============================================================================

General
---------------------------------------------
o   Sources of algorithmic and performance tests have been moved into separeate
    folders
o   Environment variable has been introduced to support custom version of Proton
    to compile the library.

Functionality improvements/extensions/addings
---------------------------------------------

o   Piece of code, which reorders found corners on checkerboard has been moved from
    calibration filter to library function that finds the corners.

o   ippiSharr filters to calculate image derivatives more
    precisely have been added .

o   Histogram calculation with mask support has been added.

o   Contour retrieving functions have been reorganized.
    Now, there is a single function working with byte-depth image
    that supports 4 different modes of contour retrieval which are superset
    of previous two functions.

o   Pyramid-based color segmentation interface has been changed. It returns
    a sequence (IppiSeq) of connected components instead of array.

o   Fitting line via M-Estimators has been added.

o   Pixel access macroses have been extended to support BL images.

o   Functions to make image undistortion for input from camera have been added.
    Simple (nearest neighbor) and antialiazed (bilinear interpolation) modes are
    available.


Optimization
--------------------------------------------------------------------

o   Sobel filters have been optimized another time for MMX and SSE (~60-80% speed up).
    This cause speed up of related functions - Canny Edge Detector, PreCornerDetect,
    Motion templates etc. Newer Sharr filter has also been optimized in the similar manner. 
o   Pyramid based color segmentation has been optimized for PII. (>2x performance gain).
o   Undistortion function has been optimized for MMX/SSE.
o   Histogram and backproject calculation has been greatly optimized ( >5x gain).
o   Line fitting (M-estimators) has been optimized for SSE (~2x gain).
o   Many image statistic functions (CountNonZero, SumPixels, MeanMask, Mean_StdDev,
    Mean_StdDevMask - 34 functions total ) have been optimized for WMT.


Scripting Environment/Scripts
-----------------------------------------------
o   Several bugs were fixed, so the application becomes much more stable.


=============================================================================
                   Release CVL 00.00.24, Wednesday, March 1, 2000
=============================================================================

Additions (March 3, 2000)
--------------------------
o   Updated library manual
o   Updated calibration filter and document on it (CalibFilter.doc)


General
---------------------------------------------
o   Almost all the data types have been renamed
    (first letters were capitalized)
    ippiSequence and related data types' names were made shorter    
o   Wrappers, working with IplImage were added into CVL:
    morphology, pyramids, drawing, statistics, background differencing,
    motion templates.

Functionality improvements/extensions/addings
---------------------------------------------

o   Calibration filter with 3D view of calibration etalon
    (after calibration is completed)

o   Face details recongition script.

o   Sequence (ippiSeq) has been extended to support fast insertion and removing
    of elements into/from the beginning (I.e it is deque now).
o   Histograms
    -----------------------------------------------
      o ippiCalcBackProject(8u/8s/32f)C1R

o   Pyramids
    -----------------------------------------------
      o Pyramid-based segmentation
           ippiPyrSegmentation8uC1R
           ippiPyrSegmentation8uC3R

o   Thresholds
    -----------------------------------------------
      o ippiThreshold(8u/8s/32f)C1R have been extended - non-inplace mode
        support was included, max_val parameter was added into 8u/8s functions
        (it is used for IPPI_THRESH_BINARY and IPPI_THRESH_BINARY_INV modes)

o   Utilities
    -----------------------------------------------
      o AbsDiff declaration have been modified to support non-inplace operation
          ippiSampleLine(8u/32f)C1/C3R
          ippiInitLineIterator(8u/32f)C1/C3R

o   Drawing
    -------------------------------------------------------
      o ippiThickEllipse, ippiEllipseSector, ippiPolyLine, ippiPolyLineAA,
        ippiDrawContours (8uC1 flavor)

Optimization
--------------------------------------------------------------------
o   Canny edge detector has been optimized using MMX


Scripting Environment/Scripts
-----------------------------------------------
o   AVI support added
o   More advanced text editor in Hawk

=============================================================================
                   Release CVL 00.00.23, Monday, February 16, 2000
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   Sequence has been merged with RWSequence
o   Histograms
    -----------------------------------------------
      (only histograms on arrays are supported now)
      o ippiCalculateHist(8u/8s/16s/32f)C1R

o   Contours
    -----------------------------------------------
      o Calculating convexity defects
           ippiConvexityDefects
      o Checking a contour for convexity
           ippiCheckContourConvexity

o   Motion Templates
    -----------------------------------------------
      o Motion segmentation: ippiMotionSegment32fC1R

o   Utilities
    -----------------------------------------------
      o Line samplers and iteration through the line:
          ippiSampleLine(8u/32f)C1/C3R
          ippiInitLineIterator(8u/32f)C1/C3R

o   Drawing
    -------------------------------------------------------
      o ippiPutText supports bottom-origin image orienation
        by specifying negative step

o   Pyramids
    -----------------------------------------------
      o Pyramid-based segmentation: ippiPyrSegmentation8uC1R

Tests
---------------------------------------------------
o   All the existing histogram functions were tested
o   Sequence, Set and Graph structures were tested


Optimization
--------------------------------------------------------------------
o   All the floodfill functions have been optimized algorithmically.


Scripting Environment/Scripts
-----------------------------------------------
o   Views were enhanced
o   Support for sliders was added.


=============================================================================
                   Release CVL 00.00.22, Monday, January 31, 2000
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New data structures
    -----------------------------------------------
    o new function for sequences - ippiGetSequenceElementIndex
    o Read/Write Sequence (ippiRWSequence)
      o ippiCreateRWSequence
      o ippiReleaseRWSequence
      o ippiPushToRWSequence
      o ippiPopFromRWSequence
      o ippiPushToRWSequenceMulti
      o ippiPopFromRWSequenceMulti
      o ippiClearRWSequence
      o ippiInsertToRWSequence
      o ippiRemoveFromRWSequence

    o Set (ippiSet)
      o ippiCreateSet
      o ippiReleaseSet
      o ippiClearSet
      o ippiAddToSet
      o ippiRemoveFromSet
      o ippiFindSetElem

    o Graph (ippiGraph)
      o ippiCreateGraph
      o ippiReleaseGraph
      o ippiClearGraph
      o ippiAddVertexToGraph
      o ippiRemoveVertexFromGraph
      o ippiAddEdgeToGraph
      o ippiRemoveEdgeFromGraph
      o ippiFindGraphEdge
      o ippiFindGraphVertex (macro)
      o ippiCalcGraphVertexDegree

o   Histograms
    -----------------------------------------------
      (only histograms on arrays are supported now)
      o ippiCreateHist
      o ippiReleaseHist
      o ippiMakeHistHeaderForArray
      o ippiQueryHistValue
      o ippiGetHistValue
      o ippiThreshHist
      o ippiGetMinMaxHistValue
      o ippiNormalizeHist
      o ippiCompareHist

o   Eigen faces
    -----------------------------------------------
      o ippiCalcCovarMatrix_8u32f(R) (non-ROI version is in IPPM)
      o ippiCalcDecompCoeff_8u32f(R)
      o ippiEigenProjection_8u32f(R)

o   Ellipse fitting
    -----------------------------------------------
      o ippiEllipseFit32f

Optimization
-----------------------------------------------
    o New functions from "Eigen faces" group have been optimized for SSE


Scripting Environment/Scripts
-----------------------------------------------
    o Since this delivery file apps\Hawk\history.txt contains
      detailed information about changes in Scripting Environment.
    o Plugin technology introduced. It allows to use different libraries
      without rebuilding of application.
    o Saving results to .BMP files was added.
    o Started using of new version of EiC interpreter
    o Page rotation example (script) was added.

=============================================================================
                   Release CVL 00.00.21, Monday, January 17, 2000
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions/classes/methods
    -----------------------------------------------
    o Contours processing functions:
      o ippiContourLevelFromCntrTree
    
    o Eigen faces:
      o ippiCalcEigenObjects_8u32fR - finds all the eigen objects.

    o Template matching functions (each includes 6 methods):
      o ippiMatchTemplate8uC1R
      o ippiMatchTemplate8sC1R
      o ippiMatchTemplate32fC1R

o   Optimization
    -----------------------------------------------
    o Matrix functions for double precision were optimized for WMT

o   Documentation
    -----------------------------------------------
    o HTML variant of IPPM documentation was added

o   Scripting Environment/Scripts
    -----------------------------------------------
    o Demo script for letter recognition was added.

=============================================================================
                   Release CVL 00.00.20, Wednesday, January 5, 2000
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions/classes/methods
    -----------------------------------------------
    o Contours processing functions:
      o ippiMatchContourTrees
      o ippiContourFromCntrTree
    o Earth Mover Distance
    
    o Tracker classes: CvlKalmanTracker & CvlCondensationTracker were added.
    o DShow filters, which use new tracker classes, were created.

o   Optimization
    -----------------------------------------------
    o Optical flow (block matching algorithm) optimized for MMX/SSE.

o   Scripting Environment
    -----------------------------------------------
    o Hawk application extended to support input from camera.
    o some minor bugs were fixed.
    o Several High GUI functions were documented.

=============================================================================
                   Release CVL 00.00.19, Friday, December 17, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions/classes/methods
    -----------------------------------------------
    o Calibration functions:
      o ippiRogrigues
      o ippiCalibrateCamera
      o ippiFindChessBoardCornerGuesses8uC1R
      o + several internal functions:
          _ipcvFindHomography
          _ipcvInitIntrinsicParams
          _ipcvNormalizeImagePoints
          _ipcvRigidMotionTransform
          _ipcvProjectPoints
          _ipcvFindExtrinsicCameraParams

    o Contours:
      o ippiContourArea, ippiContourSecArea
      o ippiCreateContourTree
      o ippiMatchContours
      o ippiFindMinEnclosingCircle

    o Utility functions:
      o ippiRGBToGray_8uC3C1R

    o Detection functions:
      o ippiFindCornerSubPix8uC1R

    o Matrix functions:
      o ippmDetMatrix_32f
      o ippmInvMatrix_32f
      o ippmInvMatrix_64d
      o ippmTransMatrix_32f
      o ippmTransMatrix_64d
      o ippmNormVector_32f
      o ippmNormVector_64d
      o ippmTrace_32f
      o ippmMulVectors_32f
      o ippmSVDecomposition_32f
      o ippmCopyMatrix_64d
      o ippmSetIdentity_64d
      o ippmCopyVector_64d
      o ippmScaleVector_64d
      o ippmSubVector_64d
      o ippmScaleMatrix_64d
      o ippmMulMatrix_64d
      o ippmMulTransMatrixR_64d
      o ippmAddVector_64d
      o ippmComplexMult_32f
      o ippmComplexMult_64d
      o ippmDotProduct_64d
      o ippmSetZero_64d
      o ippmTransposeMatrix_64d

o   Several misprints in IppiCVL manual have been fixed.

=============================================================================
                   Release CVL 00.00.18, Wednesday, December 1, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions/classes/methods
    -----------------------------------------------
    o New contour processing functions:
      o Basic functions for manipulating ippiSequence type.
        o ippiGetSequenceElementPtr
        o ippiStartWriteSequence
        o ippiEndWriteSequence
        o ippiCreateNewSequenceBlock
        o ippiWriteSequenceElement
        o ippiStartReadSequence
        o ippiReadSequenceElement
        o ippiSetSequenceReaderPos
        o ippiStartReadChainPoints
        o ippiReadChainPoint
        o ippiCopySequenceToArray
        o ippiMakeSequenceHeaderForArray
        o ippiCreateSequenceFromArray

      o Iterative contour retrieving functions

        o ippiStartFindContours_Plane8uC1R
        o ippiStartFindContours_Hierarchic32fC1R
        o ippiInsertContourIntoTree
        o ippiFindNextContour
        o ippiSubstituteContour
        o ippiEndFindContours

      o Convex hull functions, working with ippiSequence
        o ippiConvexHull
        o ippiConvexHullApprox

      o Minimal bounding box - ippiMinAreaRect
      o Moments on contours - ippiContoursMoments

    o Wrapper functions:
      o ippiImage utility functions:

        o ippiCreateImage
        o ippiReleaseImage
        o ippiSetImageData
        o ippiInitImageHeader
        o ippiCreateImageData
        o ippiReleaseImageData
        o ippReleaseImageHeader
        o ippiSetImageRoi
        o ippiCopyImage

      o Processing functions:
        o ippiThreshold
        o ippiPyrDown
        o ippiPyrUp

o   Optimization/Improvements
    -----------------------------------------------
    o Moments functions (grayscale (8u/8s)C1, binary (8u/8s/32f)C1).
    o Distance transform has been optimized algorithmically and specially for MMX/SSE.


o   CamShift class rewritten to support multi-dimensional histograms
o   Several misprints in IppiCVL manual have been fixed.


=============================================================================
                   Release CVL 00.00.17, Monday, November 15, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions/classes/methods
    -----------------------------------------------
    o Contour processing functions:
      o Function for finding approximate convex hull of point set
          ippiConvexHullApprox

    o Matrix functions:
      o Eigen values and vectors for symmetric matrix:
          ippmJacobiEigens_32f, ippmJacobiEigens_64f
      o Calculating AA' for matrix A: ippmMulTransMatrixR
        and A'A: ippmMulTransMatrixL

o   Optimization/Improvements
    -----------------------------------------------
    o Thresholding functions (8u,8s flavors) have been optimized for WMT,
      32f flavor have been optimized for SSE.

=============================================================================
                   Release CVL 00.00.16, Monday, November 1, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions/classes/methods
    -----------------------------------------------
    o Contour processing functions:
      o Chains retrieving
          ippiFindChains_Hierarchic32fC1R,
          ippiFindChains_Plane8uC1R
      o Chains approximation
          ippiApproximateChains  (four methods: direct,
                                  simple,TC89_L1,TC89_KCOS)
      o Chains & contour drawing
          ippiDrawChains8uC3R,
          ippiDrawContours8uC3R,
      o Corner finding
          ippiFindDominantPoints (one method: IPAN99)
      o Utility functions:
          ippiCreateChains,
          ippiCreateContours,
          ippiReleaseChains,
          ippiReleaseContours

    o New utility functions:
      o ippiCvtPixToPlane(8u/32f)(C3/AC4)R,
      o ippiCvtPlaneToPix(8u/32f)(C3/AC4)R
      o ippiAbsDiff(8u/32f)C1R[S]

    o Flood fill functions are extended to return
      bounding rectangle of filled area

o   Optimization/Improvements
    -----------------------------------------------
    o Morhology function have been optimized another time
      and made independed from IPL.

o   Documentation:
    -----------------------------------------------
    o Manual has been extended greatly. All the existing functions are described.
    o Readmes for all demos have been updated.
    o Manual for high-level part of library has been created.


=============================================================================
                   Release CVL 00.00.15, Friday, October 15, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions/classes/methods
    -----------------------------------------------
    o First Active Contour related functions -
      ippiSnakeImage8uC1R, ippiSnakeImageGrad8uC1R were added

o   Optimization/Improvements
    -----------------------------------------------
    o Norm functions with mask support (all flavors)
      were optimized for MMX/SSE.
    o Straight Hough transform was speeded up by several times
      due to algorithm improvement.

=============================================================================
                   Release CVL 00.00.14, Friday, October 1, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   General changings
    -----------------------------------------------
    o Many matrix functions have been renamed


o   New functions/classes/methods
    -----------------------------------------------
    o Stages of Canny Edge Detector as separate functions: CannyBegin, CannyEnd.
    o FillConvexPoly functions for 8uC1, 8uC3.

    o IPPM functions:
      o Special functions for 6x6 matrices were added: Add, Sub, Transpose, Scale.

o   Optimization/Improvements
    -----------------------------------------------
    o Inserted IPPM functions were optimized for SSE.
    o CamShift class was improved by adding pyramids and
      background differencing.
    o Norm functions, SumPixels and Mean functions (32f flavor)
      were optimized for SSE.
    o Probabilistic Hough transform was speeded up twice.

=============================================================================
                   Release CVL 00.00.13, Wednesday, September 15, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   General changings
    -----------------------------------------------
    o Tests have been made shared between configurations.


o   New functions/classes/methods
    -----------------------------------------------
    o Probabilistic Hough Transform: ippiHoughLinesP_8uC1R (tested visually)
    o Subdivision classes: General Subdivision,
      Delaunay Triangulation, Convex Hull building.

    o IPPM functions:
      o Multiply, Transpose.
      o Special Add, Sub, Multiply, Scale, and Transposition functions for
        3x3 and 4x4 matrices.
      o Mahalanobis distance.

o   Optimization/Improvements
    -----------------------------------------------
    o Inserted IPPM functions were optimized for SSE.
    o CamShift class was improved by adding pyramids and
      background differencing.
    o Norm functions for byte formats were optimized for MMX/SSE.

=============================================================================
                   Release CVL 00.00.12, Tuesday, August 31, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   General changings
    -----------------------------------------------
    o Project tree modified and extended (see readme file):
      o high-level part of library is not empty now
        (storage and histogram classes have been added)
      o Matrix primitives library (IPPM) arrived.
      o All tests directories moved level upper.
    o M5 and W7 configurations have been added
      (M5 is the same as PX and W7 consists with A6 at present).
    o Switcher for IppiCVL was optimized to reduce number of jumps from 3 to 1.


o   New functions/classes/methods
    -----------------------------------------------
    o Strict Hough Transform: ippiHoughLines_8uC1R (not tested yet)
    o Storage classes (array, tree).
    o Histogram classes with almost complete functionality:
      creating, accessing, caluclating histogram,
      retrieving back project, thresholding,
      normalizing, comparing two histograms, *=, -=, iterating,
      copying and clearing.

    o IPPM functions:
      DeleteMatrix, DeleteVect, AddMatrix, AddVect, CalcQuadrForm,
      CopyMatrix, CopyVector, CreateMatrix, CreateVect, CrossProduct,
      DotProduct, GetElement, GetMatrix, GetVector, ScaleVect,
      SetElement, SetMatrix, SetVector, SubVect, TransformVect.

o   Optimization
    -----------------------------------------------
    o Next IPPM functions were optimized for SSE:
      AddVect, SubVect, DotProduct, CopyVector, CopyMatrix, SetVector,
      SetMatrix, GetVector, GetMatrix.

o   CVL Manual
    -----------------------------------------------
    o New variant of CVL manual with many corrections
      (but still not up to date) delivered.

=============================================================================
                   Release CVL 00.00.11, Friday, August 13, 1999
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions
    -----------------------------------------------

    o Image statistics
      All flavors of the ippiNorm function:
      o ippiNormwith mask support (all flavors) were implemented but not tested yet,
    o Motion Templates
      o Parameter origin was added to CalcMotionGradient32fC1R. It allows to get correct
        motion direction for both top-origin and bottom-origin functions

o   Functions changed
    -----------------------------------------------
    o opSize in detection functions changes its meaning
      and now it is a true aperture size

o   Optimization
    -----------------------------------------------
    o CountNonZero (8u/8s/32f x C1/C3) A6 optimization
    o SumPixels (8u/8s x C1) A6 optimization
    o MinMaxLoc ((8u/8s x C1/C3 + 32fC1) x mask/no_mask) A6 optimization
    o Sobel convolution functions (and, thus, Motion Templates and all detection
      functions) were optimized another time.  A6 version for 3x3 kernel runs


=============================================================================
                   Release CVL 00.00.10, Saturday 31-07-99
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions
    -----------------------------------------------

    o Image statistics
      All flavors of the ippiNorm function:
      o ippiNorm(8u/8s/32f)C(1/3)(R),
        norm types:
        (C,L1,L2), (||A||, ||A-B||,||A-B||/||A||)
      o ippiGetHuMoments

    o Drawing primitives
      All flavors of the
      o ippiThickLine
      o ippiConic
      o ippiPutText (single font supported now, italic/bold)

    o Background differencing primitives (mask version)

      o ippiMaskMultiplyAcc
      o ippiMaskSquareAcc
      o ippiMaskAcc

    o Canny Edge Detector
      o ippiCanny8uC1R


o   Algorithmic & perfomance tests created for next functions
    ---------------------------------------------------------

    o Algorithmic
      o Image statistics
        o  Norm
      o Drawing primitives
        o  Line(AA)
        o  Ellipse(AA)
        o  Conic
      o Canny
      o Background differencing (mask)
      o Pixel Access Macros

    o Performance
      o Norm
      o Drawing primitives
        o  Line(AA)
        o  Ellipse(AA)
        o  Conic
      o Canny

o   Other
    -------
    o swl_test extended with pixel access and drawing samples


=============================================================================
                   Release CVL 00.00.09, Thursday 15-07-99
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   New functions
    -----------------------------------------------

    o Image statistics
      All flavors of the next functions:
      o ippiSumPixels
      o ippiMean(Mask)
      o ippiMean_StdDev(Mask)
      o ippiMinMaxLoc(Mask)
      o ippiMoments
      o ippiMomentsBinary
      ----------------------
      o ippiGetSpatialMoment
      o ippiGetCentralMoment
      o ippiGetNormalizedCentralMoment

    o Drawing primitives
      All flavors of the
      o ippiLine
      o ippiLineAA
      o ippiEllipse
      o ippiEllipseAA

    o POSIT algorithm
      o ippiInitPOSITObject
      o ippiFreePOSITObject
      o ippiPOSIT

    o Distance transform
      o ippiDistTransform3x3_8uC1R
      o ippiDistTransform5x5_8uC1R
      o ippiDistTransformGenMask3x3
      o ippiDistTransformGenMask5x5

o   Types renamed
    -------------------
    o CvlThreshType enumeration and its members
      changed their prefix to ippi/IPPI


o   Algorithmic & perfomance tests created for next functions
    ---------------------------------------------------------

    o Algorithmic
      o Image statistics:
        CountNonZero, SumPixels, Mean(Mask),
        Mean_StdDev(Mask), MinMaxLoc(Mask)
      o DistanceTransform
      o POSIT

    o Performance
      o Image statistics:
        CountNonZero, SumPixels, Mean(Mask),
        Mean_StdDev(Mask), MinMaxLoc(Mask)

=============================================================================
                   Release CVL 00.00.08, Thursday 01-07-99
=============================================================================

Global changes
---------------

o  CVL has been divided by two parts:
       IPPI CVL (low-level) and
       CVL (hi-level C++ lib)

o  Project tree was changed (see readme.txt for description)

o  Name prefixes for low-level library were changed:
    o  From Cvl to ipp for structures (not completely)
    o  From cvl to ippi for external functions
    o  From _cvl to _ipcv for internal functions
    --------------------------------------------
    o  CvlResult replaced with ippStatus
    o  External header cvl.h renamed to ippicvl.h
    o  Static libraries and DLL names were changed appropriately.


Functionality improvements/extensions/addings
---------------------------------------------

o   New functions
    -----------------------------------------------
    o Image statistics
      o ippiCountNonZero(8u/8s)fC1(R)
      o ippiCountNonZero(8u/8s)fC3(R)
      o ippiCountNonZero32fC1(R)
      o ippiCountNonZero32fC3(R)
      o ippiSumPixels8uC1(R)
      o ippiSumPixels8uC3(R)

o   Removed functions
    -----------------------------------------------
      o cvlUpdateMotionHistory*
      o cvlRenormMotionHistory*
      o cvlApproxNormalFlow*

o   Algorithmic & perfomance tests created
    -----------------------------------------------

    o Algorithmic
      o ippiSumPixels

o   Bug fixed
    -----------------------------------------------
    o CAMSHIFT filter: writing pixels out of image


=============================================================================
                   Release CVL 00.00.07, Thursday 10-06-99
=============================================================================


Functionality improvements/extensions/addings
---------------------------------------------

o   New functions
    -----------------------------------------------
    o Fixed Filters group
      o cvlLaplace32fC1R

    o Feature detection
      o cvlPreEdgeDetect32fC1R
      o cvlPreRidgeDetect32fC1R
      o cvlPreCornerDetect32fC1R
      o cvlCalcCornerEigenValsAndVecs(8u/8s/32f)C1R

    o Mathematical Utility functions
      o cvl(b)CartToPolar32f

    o Motion templates
      o cvlCalcMotionGradient32fC1R

    o Flood fill
      o cvlFloodFill(8u/32f)C1R

    o View Morphing related functions (too many to list them)


o   Algorithmic & perfomance tests created
    -----------------------------------------------

    o Algorithmic
      o Fixed Filters (32f mode)
      o Feature detection (all the rest)
      o MathUtils (CartToPolar)
      o Motion Templates II (all)
      o Flood Fill(all)

    o Performance
      o Fixed Filters (32f mode)
      o MathUtils (CartToPolar)
      o Motion Templates II (all)
      o Flood Fill(all)


o   Demos developed
    ---------------

    o CAMSHIFT DirectShow Demo as well as supporting
      hi-level CAMSHIFT class
    o View Morphing Demo


o   Switcher library and custom DLLs are introduced
    -----------------------------------------------


o   Documetation
    -----------------------------------------------
    o CVL manual is complemented with some theoretical
      material and pictures/plots
    o Brief readme for the CAMSHIFT demo is written.

=============================================================================
                   Release CVL 00.00.06, Monday 31-05-99
=============================================================================


Functionality improvements/extensions/addings
---------------------------------------------

o   New functions
    -----------------------------------------------
    o CAMSHIFT group
      o cvlCamshift(8u/8s/32f)C1R
      o cvlMeanShift(8u/8s/32f)C1R

    o Fixed Filters group
      o cvlSobel(8u/8s/32f)C1R
      o cvlLaplace(8u/8s)C1R

    o Feature detection
      o cvlPreEdgeDetect(8u/8s)C1R
      o cvlPreRidgeDetect(8u/8s)C1R
      o cvlPreCornerDetect(8u/8s)C1R

    o Mathematical Utility functions
      o cvl(b)FastArctan32f
      o cvl(b)Sqrt32f
      o cvl(b)InvSqrt32f
      o cvlRandInit
      o cvl(b)Rand32f

    o Motion templates
      o cvlUpdateMHIByTime32fC1R
      o cvlCalcGlobalOrientation32fC1R

    o Optical flow
      o cvlCalcOpticalFlowHS_8u32fR


o   Deleted functions
    -----------------------------------------------
    o Optical flow
      o cvlCalcOpticalFlowPG_8u32f(R)


o   Algorithm & perfomance tests created
    -----------------------------------------------

    o Algorithms

      o CAMSHIFT
      o Fixed Filters
      o Feature detection (for completed functions)
      o Optical flow (HS algorithm)
      o MathUtils (for completed functions)

    o Performance
      o Optical flow (HS algorithm)
      o MathUtils


o   Test changed
    ------------------------------------------------
    o All algorithmic tests corrected to be able to run in batch mode.


o   Optimization
    ------------

    o Morphology functions (32fC1 flavor) become
      faster for rectangular structuring element


=============================================================================
                   Release CVL 00.00.05, Friday 14-05-99
=============================================================================


Functionality improvements/extensions/addings
---------------------------------------------

o   Algorithm & perfomance tests created or tested.
    -----------------------------------------------
    o Algorithms
      o The test for CalcOpticalFlowBM_8u32fR added.
      o The tests for Background function were changed.

    o Performance
      o The test for CalcOpticalFlowBM_8u32fR added.
      o The test for RenormMotionHistory added.
      o The tests for Background function were changed
        (vectors comparing).

o   Optimization
    ------------
    o Background differencing functions (running average) optimized for PIII.
    o The function CvlApproxNormalFlow8u was optimized similar to 8s flavor.
    o Pyramids optimized for PII (8u & 8s) and partially for PIII (32f).
    o UpdateMotionHistory & RenormMotionHistory optimized for PII.


o   Building changes
    ----------------
    o SSE-containing files are compiled by Proton now, so it is'nt neccessary to
      switch compiler to build A6 version.


Bug fixed:
----------
    Running Average Functions pass accuracy tests (test fixed).


=============================================================================
                   Release CVL 00.00.04, Friday 30-04-99
=============================================================================
Documentations
  o The document cvl.doc is changed


Functionality improvements/extensions/addings
---------------------------------------------

o   Added:
    ------
      o Calculation of optical flow using Lucas&Kanade technique:
        CalcOpticalFlowLK_8u32fR

o   Algorithm & perfomance tests created or tested.
    -----------------------------------------------
    o Algorithms
      o The test for CalcOpticalFlowLK_8u32fR added.
      o The tests for Background function were changed.

    o Performance
      o The tests for Background function were changed.

o   Changed
    -------

o   Optimization
    ------------
    o Functions cvlErode8uC1R & cvlDilate8uC1R optimized for PIII.
    o The function CvlApproxNormalFlow was corrected for performance advance.
    o A6 - versions for Background differncing functions were completed.


Bug fixed:
----------


=============================================================================
                   Release CVL 00.00.03, Thursday 15-04-99
=============================================================================
Documentations
  o The structure of the document cvl.doc is changed


Functionality improvements/extensions/addings
---------------------------------------------

o   Added:
    ------
    o The next functions were created
      o Added macro for direct access to pixel
      o The function cvlCalcOpticalFlowPG_8u32fR added

o   Algorithm & perfomance tests created
    ------------------------------------
    o Algorithms
      o The test for cvlCalcOpticalFlowPG_8u32fR function created

    o Performance
      o Performance test for functions ApproxNormalFlow and RunningAverage were done.
      o Performance test for UpdateMotionHistory changed for generality.
        (Tests for 8s and 32f were created).

o   Changed
    -------
    o Function ApproxNormalFlow was improved for better performance.
    o The name of function cvlCalcOpticalFlowPG_8u on cvlCalcOpticalFlowPG_8u32f changed
    o The cvlUpdateMotionHistory32fC1R function changed
    o all 8u morhology functions use IPL when structuring element has rectangular form.
      Timing and algorithmic tests have been changed approprietely.

o   Optimization
    ------------
    o the Threshold group functions (PX type)
    o the Threshold8uC1 & Threshold8sC1 functions (MMX type)
    o the Morphological group functions
    o the cvlErode8uC1R & cvlDilate8uC1R functions

Bug fixed:
----------
    o steps in float morphology functions can be not 4*k now.
    o some bugs corrected in function cvlCalcOpticalFlowBM_8u
      (BUT IT IS NOT TESTED TILL)


=============================================================================
                   Release CVL 00.00.02, Wednesday 30-03-99
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   Added:
    ------
    o The next functions was created
      cvlBackProject1D8uC1R
      cvlBackProject1D8sC1R
      cvlBackProject1D32fC1R

      cvlBackProjectGraph8uC1R
      cvlBackProjectGraph8sC1R
      cvlBackProjectGraph32fC1R

      cvlBackProjectPatch1D8uC1R
      cvlBackProjectPatch1D8sC1R
      cvlBackProjectPatch1D32fC1R

      cvlBackProjectPatchGraph8uC1R
      cvlBackProjectPatchGraph8sC1R
      cvlBackProjectPatchGraph32fC1R

      cvlAcc8s32f
      cvlAcc32f32f

      cvlSquareAcc8s32f
      cvlSquareAcc32f32f

      cvlMultiplyAcc8s32f
      cvlMultiplyAcc32f32f

      cvlRunningAvg8u32f
      cvlRunningAvg8s32f
      cvlRunningAvg32f32f

      cvlUpdateMotionHistory32fC1
      cvlUpdateMotionHistory8uC1R
      cvlUpdateMotionHistory8sC1R
      cvlUpdateMotionHistory32fC1R

      cvlRenormMotionHistory8uC1R
      cvlRenormMotionHistory8uC1

      cvlErode32fC1R
      cvlErode32fC3R
      cvlErode32fAC4R
      cvlDilate32fC1R
      cvlDilate32fC3R
      cvlDilate32fAC4R

      cvlApproxNormalFlow8uC1R
      cvlApproxNormalFlow8sC1R
      cvlApproxNormalFlow32fC1R

      cvlCorrelHistGraph

      cvlThreshold8uC3R
      cvlThreshold8sC3R
      cvlThreshold32fC3R

      cvlThreshold8uC1S
      cvlThreshold8sC1S
      cvlThreshold32fC1S

      cvlBayesHistGraph

      cvlCalcOpticalFlowPG_8u

      cvlMultiplyAcc8s32f
      cvlMultiplyAcc32f32f

o   Algorithm & perfomance tests created
    ------------------------------------
    o Algorithms
      cvlApproxNormalFlow8uC1R
      cvlApproxNormalFlow8sC1R
      cvlApproxNormalFlow32fC1R

      cvlBayesHistGraph

      cvlCalcOpticalFlowPG_8u

      cvlBackProject1D8uC1R
      cvlBackProject1D8sC1R
      cvlBackProject1D32fC1R

      cvlBackProjectGraph8uC1R
      cvlBackProjectGraph8sC1R
      cvlBackProjectGraph32fC1R

      cvlBackProjectPatch1D8uC1R
      cvlBackProjectPatch1D8sC1R
      cvlBackProjectPatch1D32fC1R

      cvlBackProjectPatchGraph8uC1R
      cvlBackProjectPatchGraph8sC1R
      cvlBackProjectPatchGraph32fC1R

      cvlThreshold8uC3R
      cvlThreshold8sC3R
      cvlThreshold32fC3R

      cvlThreshold8uC1S
      cvlThreshold8sC1S
      cvlThreshold32fC1S

      cvlCorrelHistGraph

      cvlErode32fC1R
      cvlErode32fC3R
      cvlErode32fAC4R
      cvlDilate32fC1R
      cvlDilate32fC3R
      cvlDilate32fAC4R

      cvlAcc8s32f
      cvlAcc32f32f

      cvlSquareAcc8s32f
      cvlSquareAcc32f32f

    o Performance
      Morphology function group,
      Background differencing group partially

o   Changed
    -------
      cvlUpdateMotionHistory8uC1
      cvlUpdateMotionHistory8sC1

Bug fixed:
----------


=============================================================================
                   Release CVL 00.00.01, Monday 15-03-99
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   Added:
    ------
    o The next functions was created
        cvlErode8uC1R,
        cvlErode8uC3R,
        cvlErode8uAC4R,

        cvlDilate8uC1R,
        cvlDilate8uC3R,
        cvlDilate8uAC4R.

        cvlCreateStructuringElement
        cvlDeleteStructuringElement

        cvlCalcOpticalFlowBM_8u

o   Algorithm & perfomance tests created
    ------------------------------------
    o Histogram group functions
    o Pyramids group functions
    o Morphology group function (only algorithms)
    o Motion templates partially

o   Changed
    -------
    o Renamed histogram structures DefHist1DGrad -> DefHist1D
    o Renamed histogram structures DefHistGrad -> DefHistGraph
    o Renamed functions name and parameters names which these functions take.

Bug fixed:
----------
o   Bug in cvlUpdateMotionHistory was fixed.



=============================================================================
                   Release CVL 00.00.00, Friday 05-03-99
=============================================================================

Functionality improvements/extensions/addings
---------------------------------------------

o   Added:
    ------
    o The next functions was created
        /* Creating/Releasing histograms */
        cvlCreateHist1DGrad
        cvlReleaseHist1DGrad
        cvlCreateHistGrad
        cvlReleaseHistGrad

        /* Calculation histograms from different data types */
        cvlCalcHist1DGrad8uC1
        cvlCalcHist1DGrad8sC1
        cvlCalcHist1DGrad32fC1
        cvlCalcHistGrad8uC1
        cvlCalcHistGrad8sC1
        cvlCalcHistGrad32fC1

        /* Basic histogram operations */
        cvlNormHist1DGrad
        cvlClearOutAllDataHist1DGrad
        cvlIntersectionHist1DGrad
        cvlChiSqrHist1DGrad
        cvlCorrelHist1DGrad
        cvlBayesHist1DGrad
        cvlCopyHist1DGrad
        cvlSumHist1DGrad
        cvlMeanHist1DGrad
        cvlThreshHist1DGrad
        cvlSubHist1DGrad
        cvlMultHist1DGrad
        cvlInsertPointHistGrad
        cvlFindPointHistGrad
        cvlDeletePointHistGrad
        cvlGetValueHistGrad
        cvlCopyHistGrad
        cvlMultHistGrad
        cvlNormHistGrad
        cvlIntersectionHistGrad
        cvlChiSqrHistGrad
        cvlThreshHistGrad

        /* Pyramids functions */
        cvlPyrDown8uC1
        cvlPyrDown8sC1
        cvlPyrDown32fC1
        cvlPyrDown8uC1R
        cvlPyrDown8sC1R
        cvlPyrDown32fC1R
        cvlPyrDown8uC3
        cvlPyrDown8sC3
        cvlPyrDown32fC3
        cvlPyrDown8uC3R
        cvlPyrDown8sC3R
        cvlPyrDown32fC3R
        cvlPyrUp8uC1
        cvlPyrUp8sC1
        cvlPyrUp32fC1
        cvlPyrUp8uC1R
        cvlPyrUp8sC1R
        cvlPyrUp32fC1R
        cvlPyrUp8uC3
        cvlPyrUp8sC3
        cvlPyrUp32fC3
        cvlPyrUp8uC3R
        cvlPyrUp8sC3R
        cvlPyrUp32fC3R

        /* MotionTemplate operations */
        cvlUpdateMotionHistory8uC1
        cvlUpdateMotionHistory8sC1

    o Created the Demo application - object tracker.