ChangeLog


HARK 3.0.x (Under preparation)

  • NewFeatures
    • Will update HARK-Python3 to support the new GUI library. Previously, we supported plotting by QT4, but the next HARK version will actively adopt plotting by Kivy.

HARK 3.0.0 (Dec. 04, 2018)

  • MajorChanges
    • The batchflow of pull model middleware was obsoleted, and the hark-middleware (harkmw) of the newly developed highly expandable push model middleware was introduced.
    • Refactored with C++11 to supports for the latest compiler.
    • To eliminated boost related code to improve maintainability. That is, Fixing problems caused by compatibility between boost versions will no longer be necessary.
    • In addition to the conventional CI (continuous integration), the introduction of the automatic unit test increases the robustness of the code, and the stability was improved by reducing the regression due to the lack of tests.
    • Completed the translation of previously untranslated documents.
  • NewFeatures
    • All features of HARK 2.5.0 (Provided only on Ubuntu) will be available on HARK 3.0.0 for both Ubuntu and Windows.
    • Released HarkTool5 GUI for Windows.
  • BugFixes
  • KnownIssues

HARK 2.5.0 (Oct. 05, 2018) : Only released on Ubuntu

  • NewFeatures
    • Released HARK-Python3. HARK-Python3 is the python3 version of HARK-Python. Users who need python2 can use conventional HARK-Python.
    • Released HARK-Python3-Anaconda. HARK-Python3-Anaconda is the Anaconda3 version of HARK-Python3. Anaconda2 is not supported.
    • Updated KaldiDecoder. KaldiDecoder 2.5.0 is a speech recognition engine based on Kaldi 5.4. (xenial only)
    • Supports nnet3 chain model by KaldiDecoder. (xenial only)
    • Updated HARK-ROS for ROS kinetic. Supports ROS kinetic on Ubuntu 16.04 (xenial).
    • HARK-ROS fully supports catkin.
    • Changed package name from hark-ros-stacks to appropriate hark-ros-msgs.
  • BugFixes
  • KnownIssues
    • Please do NOT select POWER with the SELECTION_TYPE parameter of the SourceSelectorBySourceInfo node. It may output an incorrect result and cause a crash.
  • Notices
    • HARK 2.5.0 supports Linux only. Windows users please wait for HARK 3.0.0.

HARK 2.4.0 (Dec. 05, 2017)

  • NewFeatures
    • Provided new beamformer modules. (MVDR node)
    • Released HarkTool5 GUI for Windows.
  • BugFixes
  • KnownIssues
  • Notices
    • The pre-compiled binaries package for Ubuntu 32bits are supported up to HARK version 2.3.0. To use HARK 2.4.0 or later packages on Ubuntu 32bits, please use the source compilation.

HARK 2.3.1 (Aug. 25, 2017)

  • NewFeatures
    • Provided new utility modules.
      • The type conversion nodes for Map type. (MapToMap, MapToMatrix and MapToVector nodes)
      • The nodes for overwriting the internal value of the container type. (MapMatrixValueOverwrite, MapVectorValueOverwrite, MatrixValueOverwrite and VectorValueOverwrite nodes)
      • The nodes that resizes a Map type. (ResizeMapMatrixValues and ResizeMapVectorValues nodes)
      • The other operations nodes for Map types. (MapIDOffset and MapOperator nodes)
      • The operations nodes for Source types. (SourceSelectorBySourceInfo and SourceTransformer nodes)
  • BugFixes
  • KnownIssues

HARK 2.3.0 (Dec. 06, 2016) [Updated (Apr. 11, 2017)]

  • NewFeatures
    • Released HARK-Rescue. HARK-Rescue provides new Human-Voice Enhancement features based on Online RPCA.
    • Provided new utility modules.
      • The type conversion nodes for Matrix type. (MatrixToMap, MatrixToMatrix and MatrixToVector nodes)
      • The type conversion nodes for Vector type. (VectorToMap, VectorToMatrix and VectorToVector nodes)
      • The other operations nodes for Map types. (MapSelectorBySource node)
    • Provided new robust sound source tracking module based on particle filter. (SourceTrackerPF node)
    • Released KaldiDecoder. KaldiDecoder 2.3.0 is a speech recognition engine based on Kaldi 5.0. (trusty only)
    • Released KaldiDecoder. KaldiDecoder 2.3.0 is a speech recognition engine based on Kaldi 5.1. (xenial only)
    • Supports nnet1 model by KaldiDecoder. (xenial only)
    • Updated HARK-ROS for ROS kinetic. Supports ROS kinetic on Ubuntu 16.04 (xenial).
  • BugFixes
  • KnownIssues
    • The package version of HARK-Rescue is 0.0.1.

HARK 2.2.0 (Nov. 11, 2015) [Windows version (Jun. 20, 2016)]

  • NewFeatures
    • Provided real-time audio playback module. (PlayAudio node)
    • Released HARK-Binaural+ of a new binaural signal processing package.
  • BugFixes
    • TF generation with geometric calculation. (occurred only on Windows)
  • KnownIssues

HARK 2.1.2 (Aug. 05, 2015) : Only released on Windows

  • NewFeatures
  • BugFixes
    • TF generation with geometric calculation. (occurred only on Windows)
  • KnownIssues
    • Current version of HARK Designer does not work with the latest nodejs (0.12). Please install node 0.10 until the bug is fixed.

HARK 2.1.1 (May. 06, 2015)

  • NewFeatures
  • BugFixes
    • LocalizeMUSIC, GHDSS, HarkDataStreamSender
  • KnownIssues

HARK 2.1.0 (Nov. 19, 2014)

  • NewFeatures
    • Released HarkTool5. HarkTool5 is a platform-independent WEB-based generating transfer function tools. This tool has the same features as conventional HarkTool4 with 3D support.
    • Provided multi-channel ego-noise suppression feature. (HARK-ENE)
    • Released libharkio3. libharkio3 was designed for file I/O format unification and the consolidation of the matrix operation code etc.
    • Updated HARK-ROS for ROS indigo. Supports ROS indigo on Ubuntu 14.04 (trusty).
  • BugFixes
  • KnownIssues
  • Notices
    • The pre-compiled binaries package of HARK-Kinect are supported up to HARK version 2.0.1. To use HARK-Kinect with HARK 2.1.0 or later, please use the source compilation. As the kernel version got higher, the third party Kinect driver for Linux could not support it. HARK-Kinect will not be supported in the future. In addition, in Windows environment HARK-Kinect is not required because Kinect is recognized by the Microsoft official driver.

HARK 2.0.0 (Dec. 05, 2013)

  • MajorChanges
    • Improved usability and added many features.
    • Provides platform-independent operability.
  • NewFeatures
    • Released HARK Designer. HARK Designer is a platform-independent WEB-based GUI programming environment. This tool has the same features as conventional Flowdesigner (GUI).
    • Supports Microsoft Kinect, Sony PlayStation Eye, Dev-Audio Microcone, SiF RASP24. In addition to these audio devices, ASIO devices are also supported on Windows.
    • Added new feature to set parameters (eg threshold of the SourceTracker) from external script.
    • Added support for commonly used sound source separation method. (Beamforming node)
      • DS: Delay-and-Sum beamforming
      • WDS: Weighted Delay-and-Sum beamforming
      • NULL: NULL beamforming
      • ILSE: Iterative Least Squares with Enumeration
      • LCMV: Linearly Constrained Minimum Variance
      • GJ: Griffiths-Jim
      • MSNR: Maximum Signal-to-Noise Ratio
      • GICA: Geometrically constrained Independent Component Analysis
      • ML: Maximum Likelihood estimation
    • Updated speech recognition engine based on Julius 4.2.3.
    • Updated WIOS.
    • Updated HARKTOOL.
    • Updated HARK-Python.
    • Supports Windows/Linux (32bit/64bit)
    • Updated HARK-ROS for ROS hydro. Supports ROS hydro on Ubuntu 12.04 (precise).
  • BugFixes
  • KnownIssues

HARK 1.9.9 (Oct. 02, 2013)

  • NewFeatures
    • Early release of HARK 2.0.0 alpha version.
    • Early release of HARK Designer. HARK Designer is a platform-independent WEB-based GUI programming environment. This tool has the same features as conventional Flowdesigner (GUI).
  • BugFixes
    • Many bugfixes.
  • KnownIssues
    • Distribution for HARK 1.9.9 was stopped due to the release of HARK 2.0.0. Distribution for HARK Designer 1.9.9 continued.

HARK 1.2.0 (May. 15, 2013)

  • NewFeatures
    • Released HARK for Windows.
    • Provided 3D support (eg Sound source localization, Sound source separation and Speech recognition).
    • HarkTool’s renewal (refactoring) for accompanying 3D support.
    • Updated Julius_MFT. Julius_MFT is a speech recognition engine based on Julius 4.2.2.
    • Supports English speech recognition. (We provided English acoustic/language models for Julius.)
    • Updated HARK-ROS for ROS groovy. Supports ROS groovy on Ubuntu 12.04 (precise).
    • Improved performance.
  • BugFixes
    • Improved stability.
  • KnownIssues

HARK 1.1.1 (Jun. 22, 2012)

  • NewFeatures
    • Supports Ubuntu12.04 (precise).
    • Released HARK-Binaural of a binaural signal processing package.
    • Updated Julius_MFT. Julius_MFT is a speech recognition engine based on Julius 4.2.1.
    • Updated HARK-ROS for ROS fuerte. Supports ROS fuerte on Ubuntu 12.04 (precise).
  • BugFixes
  • KnownIssues
  • Notices
    • The pre-compiled binaries packages for Ubuntu 10.04 (lucid) are supported up to HARK version 1.1.0. To use HARK 1.1.0 or later packages in Ubuntu 10.04 (lucid), please use the source compilation.

HARK 1.1.0 (Jan. 29, 2012)

  • NewFeatures
    • Supports new devices (Microsoft Kinect, PlayStation Eye and SiF RASP24).
    • Supports 64 bit Linux.
    • Provided new sound localization algorithm (GEVD-MUSIC).
    • Released WIOS. WIOS is a synchronous recording and playback tool necessary for generating transfer functions.
    • Enhanced the peripheral plugin packages (HARK-Python, HARK-MATLAB).
    • Updated HARK-ROS for ROS fuerte. Supports ROS fuerte on Ubuntu 10.04 (lucid).
  • BugFixes
  • KnownIssues

Before HARK 1.0.x

  • HARK 1.0.6
    • Updated HARK-ROS for ROS cturtle/diamondback/electric. Supports ROS cturtle/diamondback/electric on Ubuntu 10.04 (lucid).
  • HARK 1.0.5
    • Updated HARK-ROS for ROS electric. Supports ROS electric on Ubuntu 10.04 (lucid).
  • HARK 1.0.4
    • Updated HARK-ROS for ROS diamondback. Supports ROS diamondback on Ubuntu 10.04 (lucid).
  • HARK 1.0.0 [First Release] (Oct. –, 2010).
    • Released HARK-OpenCV. HARK-OpenCV provides OpenCV-based image processing in HARK.
    • Released Julius_MFT. Julius_MFT is a speech recognition engine based on Julius 4.1.2.
    • Updated HARK-ROS for ROS cturtle. Supports ROS cturtle on Ubuntu 10.04 (lucid).
  • HARK 1.0.0 [Early Release] (Nov. 20, 2009)
    • Pre-released, many improvements, bug-fixes and updated documentation.
    • Released HARK-ROS for ROS boxturtle. Supports ROS boxturtle on Ubuntu 8.04/9.04 (hardy/jaunty).
  • HARK 0.1.7 [First Public] (Apr. 17, 2008)

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