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CHANGELOG.md

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0.12.0 - unreleased

Added

  • Support encoding mp4 movies via ffmpeg. This allows using hardware encoding on a variety of platforms.
  • Support PTP synchronized cameras without external triggering hardware. Tested with Basler Ace2 GigE cameras.
  • Provide binaries for Ubuntu 24.04 LTS Noble Numbat.
  • Save video to .mp4 files in Strand Camera (instead of .mkv files). Update Braid, braid-process-video, strand-convert, and other utilities to use MP4. Video is encoded with the H.264 codec and metadata, including precise timestamps, are stored in the h264 stream. To do compression, the openh264 encoder is always available. With appropriate NVENC hardware, hardware-accelerated encoding is also supported.
  • Added support from Allied Vision Technologies cameras using the Vimba X driver. In the braid .toml configuration file, specify the camera with start_backend = "vimba".
  • Braidz Viewer website at https://braidz.strawlab.org/ can be installed as a Progressive Web App (PWA). When the Braidz Viewer is installed locally, double-clicking on a .braidz file will open it in the app automatically.
  • Braid can now start saving MP4 files in all cameras with a single button. Furthermore, additional support for post-triggering of all cameras can be done.
  • Support for Rerun to visualize data. If the environment variable RERUN_VIEWER_ADDR is set, Braid will attempt to connect to the rerun viewer at this address. A new utility (braidz-export-rrd) converts .braidz files (and, if specified, also multi-camera .mp4 videos) into a .rrd file for viewing with the Rerun viewer.
  • Add ability for a single Strand Camera instance to perform 2D tracking in multiple mini arenas simultaneously. Inspired by MARGO. Trajectories are confined to individual mini arenas. Automatic camera calibration can be performed by making us of April Tags embedded in the arena walls.
  • Added support to save raw, uncompressed video to the MP4 container format.
  • Save camera gamma to MP4 files.
  • Strand Cam defaults to including the camera name in the saved MP4, FMF, uFMF, and April Tags .csv.gz files.
  • Substantial improvements to the braid-process-video program for processing saved videos and data.
  • For Strand Cam and Braid, simplify defaults so that cargo build --release is as close to just working as possible. The browser frontends still need to be built but an explicit compile time error is shown if this remains to be done.
  • Build for Ubuntu 22.04 (Jammy)
  • On systems with an Nvidia GPU, set the default encoding for MP4 video saving to H264 using NvEnc hardware.
  • New light mode for browser UI. Selection between dark and light mode is done according to browser and OS preferences.
  • Security of web sessions is simplified. Braid and Strand Camera now use a cookie signing secret which is persisted to disk and does not require the user to set. A token is needed for the first request via HTTP but typically the token-free URL can be used for subsequent requests.
  • Live view video field has new viewing modes, namely "25%", "50%" and "100%" scaled modes in addition to the existing "Fit" mode. Also "Rotate CW" and "Rotate CCW" buttons were added.
  • Binary release compiled with Basler Pylon version 7.3.

Changed

  • No longer saves .mkv files. (Will now save .mp4 files instead.)
  • Parameter fps for FakeSync trigger mode renamed framerate.
  • Braid no longer runs an in-process strand-cam but rather launches a child process for each camera. This enables support of other camera drivers and will enable braid to run with cameras from multiple vendors. This builds off the remote camera support.
  • Remote cameras for braid are specified using start_backend = "remote" in the [[cameras]] section of the Braid .toml configuration file. (To update, replace remote_camera = true with start_backend = "remote". The default setting is now start_backend = "pylon" to enable Basler Pylon cameras to continue with existing Braid .toml configuration files.)
  • Rename command line program offline-retrack to braid-offline-retrack.
  • MP4 and FMF files use frame timestamps computed from the triggerbox device if available.
  • When saving MP4, FMF and April Tag CSV files, default filenames include the camera name.
  • Rename command line program strand-cam-offline-kalmanize to flytrax-csv-to-braidz.

Fixed

  • Browser caching is turned off. This reduces disk usage.
  • When saving MP4 files, the maximum framerate parameter is respected.
  • The alpha parameter in the feature detector was inadvertently ignored. This has been corrected. Thanks to Antoine Cribellier for noticing this.
  • Increased the default size of the buffer used to save data to disk to 10000 from a previous value of 10. Additionally, made this value configurable by creating a new parameter write_buffer_size_num_messages in the [mainbrain] section of the Braid .toml configuration file.

0.11.1 - 2021-12-04

Added

  • Update build for Ubuntu 20.04 .deb to specify the exact Pylon version dependency to the package manager.

Changed

  • Update build for Ubuntu 20.04 .deb to use Pylon 6.2.0.

Fixed

  • Restore the checkerboard calibration to the web browser UI. (This was inadvertently disabled in a code reorganization.)

0.11.0 - 2021-12-02

Added

  • The software is released now as a single .deb package for Ubuntu 20.04 which includes the main applications (Braid and Strand Camera) in addition to numerous smaller utility programs.

  • New program braid-process-video to process multiple simultaneously recorded MKV and FMF videos. Optionally, when a simultaneously recorded .braidz file is available, the data in the .braidz is used to directly indicated temporally synchronized frames. Without the .braidz file, an algorithm attempts to match frames acquired exactly synchronously, but the algorithm is imperfect.

  • MKV videos now save timestamps with microsecond precision. (Previously was millisecond precision.)

  • Support for "remote cameras" in Braid. A remote camera can be used to connect cameras on separate computers over the network to an instance of Braid. One or more instances of Strand Camera can thus run on computers other than the computer on which Braid is running.

  • Implement loading all camera node map settings from a file. For Braid, this is specified in the [[cameras]] section with the camera_settings_filename key. For Strand Cam, set this with the --camera-settings-filename command-line argument.

  • Braid stores the camera settings for each camera determined with Strand Camera was started into the newly created cam_settings directory inside the .braidz file.

  • Braid stores the feature detection settings for each camera determined with Strand Camera was started into the newly created feature_detect_settings directory inside the .braidz file.

  • On linux, Basler Pylon backend checks for resource limits for USB memory (/sys/module/usbcore/parameters/usbfs_memory_mb) and file descriptors (ulimit) warns if they are likely too low and suggests how to increase limits.

  • MKV videos now save the camera name as metadata in the segment title field.

  • MKV, FMF, and uFMF videos have the camera name in the filename when saved with Braid.

  • When saving MKV videos, automatically trim pixels to fit divisible-by-two requirements for VPX video encoders.

  • Backport to Pylon 5 for Basler cameras. This is not enabled by default but can be useful to debug issues dependent on driver version.

  • Validate that triggerbox works in Windows.

  • April Tag detection works in Windows.

  • For debugging, enable ability to capture raw feature detections directly from Strand Cam in Braid by the new configuration parameter packet_capture_dump_fname which specifies a filename into which the data is stored.

  • Basler cameras automatically set the stream grabber MaxTransferSize parameter to its maximum possible value. This can be disabled by setting the DISABLE_SET_MAX_TRANSFER_SIZE environment variable.

Fixed

  • Fixed computation of triggerbox pulse time and consequently estimated latency. There were two problems in the previous implementation, and both are now fixed. First, the triggerbox firmware has a bug in which two pulses are counted before electrical pulses were actually, physically emitted from the device. Secondly, the braid-triggerbox crate prior to 0.2.1 mis-calculated the estimated time at which the trigger pulse counter was read.

  • Fixed segmentation fault that sometimes happened on program exit.

Changed

  • Removed runtime compatibility with old flydra v1 camera nodes and mainbrain. This had not been tested in many releases and likely didn't work anyway. This required some custom serialization and deserialization code, which has now been removed. (Braid communication between Strand Cam and the mainbrain is currently done with CBOR encoded data.)

0.10.1 - 2021-07-26

Added

  • Camera calibration for Braid can now be in the pymvg .json file format (or continue to remain in the flydra .xml file format).

0.10.0 - 2021-07-02

Added

  • Cameras automatically synchronize in braid.

  • Braidz parsing is done by a single implementation in the braidz-parsing crate. This transparently handles .braidz files or .braid directories as well as uncompressed .csv files or compressed .csv.gz files.

  • In strand-cam a camera calibration can be loaded with the --camera-xml-calibration or --camera-pymvg-calibration command-line arguments.

  • Use of the human-panic crate to enable better error reporting from users.

Changed

  • For the strand-cam-offline-kalmanize program, the --output (or -o) command line argument now MUST be a filename ending with .braidz. (Previously, it was a .braid directory name which would implicitly get converted to the corresponding .braidz file. For example, foo.braid was given on the command line and foo.braidz was saved. Now, use foo.braidz.)

  • The Kalman filter implementation used for tracking in Braid now uses the Joseph form method to calculate covariance. This improves robustness. See #3.

  • Error handling is now performed by the anyhow and thiserror crates in place of the failure crate.

  • Asynchronous task handling was updated to tokio 1.0 from 0.2.

Fixed

  • When saving data with braid, the textlog and experiment info files are saved uncompressed and are flushed to disk after initial writing. Therefore, less data is stored in memory as the program runs. This works around a bug in which, if the program crashes due to a panic, some data scheduled to be written to a .gz file is lost.

0.9.1 - 2021-06-22

Fixed

  • Braid zip archive files (.braidz files) containing large files could become corrupt (#5). This was fixed.

0.9.0 - 2021-01-04

Added

  • When braid is run without a hardware trigger box listed in the .toml config file, it will allow running in a "fake synchronized" mode in which most aspects of a triggerbox are emulated. If precise synchronization is not necessary, this should enable tracking without synchronization hardware. It also opens the door to using hardware which cannot be precisely synchronized such as inexpensive cameras without the ability to have an external trigger.

Fixed

  • Checkerboard calibration in strand-cam is much faster and uses sub-pixel corner localization. It should behave identically to the calibration in ROS camera_calibration.calibrator.MonoCalibrator now.

Changed

  • The log output format has changed slightly as we are now using the tracing library for logging.
  • Migrate some error handling to the thiserror and anyhow crates (from the failure crate). To continue to provide tracebacks when the RUST_BACKTRACE environment variable is set, binaries for release are build with rust nightly from 2021-01-03.
  • Several of the internal crates have been individually licensed under Apache-2.0/MIT or similar licenses.

0.8.2 - 2020-12-04

Fixed

  • Support Basler Ace2 cameras

0.8.1 - 2020-11-15

Fixed

  • force MKV frame width to be power of 2 when saving in strand-cam.
  • fix braidz parser not to fail on "unknown" fps.
  • revert to use NVENCAPI_VERSION 8 to support older drivers.

0.8.0 - 2020-11-03

Added

  • Update to Pylon 6.1.1
  • Raise error dialog in strand-cam browser UI if frame processing is falling behind frame production
  • Rewritten tracking core. (Numerically it produces similar or identical results, but the code is much better organized for future updates.)
  • Several small feature and bug fixes.

Changed

  • For encoding h264 video, use NVENCAPI_VERSION 11, which is recent from nvidia.

0.7.4 - 2020-03-01

Added

  • [strand-cam] Support online detection of April Tags and saving results to .csv file.

  • [strand-cam] Shutdown nicely when receiving SIGTERM (in addition to previous support for shutdown on SIGINT when Ctrl-C happens)

  • [braid] Shutdown nicely when receiving SIGTERM (in addition to previous support for shutdown on SIGINT when Ctrl-C happens)

  • Added new demo script ./scripts/change-tracking-settings-demo.py.

  • Many internal libraries updated to latest release to support rust async. This includes updating to tokio 0.2 and hyper 0.13. No regressions have been seen in testing.

Changed

  • [strand-cam] .zip file with .deb packages is renamed to rust-cam-xenial-debs-build-${CI_COMMIT_SHA}

Note on version numbers

Version 0.7.3 was not publicly released but was internally released on 2019-12-02. It differed from the 0.7.2 release only in that it allows disabling the Kalman filter based tracking in the camtrig variant of strand-cam

0.7.2 - 2019-12-02

Added

  • [strand-cam] Print backtraces for some errors, even without RUST_BACKTRACE environment variable being set.

  • [braidz.strawlab.org] Link to main braid page at https://strawlab.org/braid

Fixed

  • [strand-cam] Shutdown nicely when receiving Ctrl-C.

  • [braid] Shutdown nicely when receiving Ctrl-C, including finishing saving of .braid directory into .braidz file.

  • [braid] Fix UI to blink when saving .braidz file. Fix UI to show ".braidz file" (instead of ".braid directory").

  • [braidz.strawlab.org,compute-flydra1-compat] Make .braidz parsing more robust. In particular, if a recording was terminated abruptly, the internal CSV files may have an error in the final row. In that case, now we skip the final row rather than returning an error.

0.7.1 - 2019-11-25

Changed

  • [strand-cam] change Event Source URL to /strand-cam-events (changed from /strand-camevents, which was a typo. Originally this was /fview2-events). The event name is also changed to strand-cam (changed from bui_backend).

  • [braid] change Event Source URL to /braid-events (changed from /events). Note that this does not affect the realtime pose events, which are at a different URL and remain at /events. The event name is also changed to braid (changed from bui_backend).

Added

  • [strand-cam, braid] In UI page, title and info link to Straw Lab website. A "loading..." indication is shown prior to main UI being loaded.

  • [braid] Allow setting uuid in experiment_info table via HTTP call.

  • Decreased logging level for many messages to reduce console spam.

Fixed

  • [strand-cam] Do not print information about how to workaround a VLC bug by copying the h264 stream using ffmpeg. We discovered that this will lose precise timestamps and so it is dangerous and should not be done.

  • [braid] Do not crash when attempting 3D tracking and some cameras are not in the calibration. (The data from these cameras will simply not contribute to 3d tracking.)

  • [braid] Prevent occasional crash with the involving triggerbox_comms thread.

Note on version numbers

Version 0.7.0 was not publicly released but was internally released on 2019-11-21. Internal testing revealed bugs that were fixed before the 0.7.1 release.

0.6.0 - 2019-10-25

Fixed

  • [braid] Fixed some a bug in which Braid would crash due to a NotDefinitePositive error when doing 3D tracking.

0.5.0 - 2019-10-22

Added

  • [strand-cam] On systems with NVIDIA graphics cards, enable recording to H264 encoded MKV files using hardware encoding, thus using hardly any CPU resources.

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

unreleased

Fixed

  • Do not draw an orientation in web browser when no theta detected.

Added

  • Added Polygon to possible valid_region types.
  • Updated to use libvpx 1.8 for encoding MKV videos.
  • Add checkerboard calibration within fview2

Changed

  • flydra2 now saves all output as .csv.gz (not .csv) files.

0.20.29 - 2019-06-06

Changed

  • For fview2 (all variants), build with jemalloc memory allocator. This appears to fix a "corrupted size vs. prev_size" error.

0.20.28 - 2019-06-01

Added

  • Created several ROS launch example files. They are in this repository in the ros-launchfile-examples directory.

Fixed

  • Fixed some bugs in the way .mkv files were created. There was a bug in which recordings longer than ~30 minutes were truncated at ~30 minutes. And another bug was that, when viewing the recorded video, skipping to a particular point in time and viewing the total duration did not work. With some light testing, these should both be fixed now.
  • Fixed setting of acquisition frame rate on older GigE cameras.
  • Provide mime type for .js files in fview, which stops browser warning about empty mime type.

Changed

  • For fview2 (all variants, Pylon drivers), upgrade Pylon to version 5.2.0.13457.
  • In flydra2-mainbrain, changed the --addr command-line argument to --lowlatency-camdata-udp-addr.

0.20.25 - 2019-03-25

Changed

  • In fview2 (all variants), CSV files from object detection have a new, more efficient format.

Added

  • In fview2 (all variants), the maximum framerate for saving data to CSV files may be specified.

0.20.22 - 2019-02-24

Changed

  • In fview2 (all variants, Pylon drivers), if a Pylon camera is already open, open a web browser to a guess of the correct URL. Disable with --no-browser.

0.20.21 - 2019-02-24

Changed

  • Substantial browser UI revision in fview2 (all variants).

  • fview2-camtrig will raise an error dialog in browser UI if contact to the camtrig USB device is lost.

  • Default codec for MKV files is VP8 in fview2 (all variants). This was a change from VP9 because there is seems to be a bug when saving to VP9 in which the encoded video is jerky.