# Changelog ## What's New In Version 5.0.8 (2020-September-11) This is a bugfix-release ### Changes * SE: prevent reading of residual RXP files as data RXP files, bug introduced with RiMTA in 5.0.7 * SE/SR: support Riegl miniVUX-2UAV * SL: Fix crash when using generic referencestation ## What's New In Version 5.0.7 (2020-August-28) This is a bugfix-release ### Changes * SE: update RiMTA to 6.0.9 for Riegl VUX240 * SE: update librdb to 2.2.3 for RiMTA 6.0.9 * SR: create smarter configuration backups * SR: add Phase1 IXM-RS cameras * SE/SR: fix VUX240 lps/angleIncrement * SE: update LASlib to latest version * SE: hide thread\_affinity warning from MKL on AMD CPUs * SE: fix pix4d georeferencing export ## What's New In Version 5.0.6 (2020-March-28) This is a bugfix-release ### Changes * SR: fix velodyne sensors shutting down when requesting RPM or returnmode to be changed * SR: Make webinterface available via cellular connection using * SR: Harden configuration files against filesystem corruption (e.g. due to powerloss) * SR: Extend logging * SR: Allow setting project notes on shutdown in webinterface * SR: Fix crash when writing thermal images * SE/SR: Initial support for Riegl VUX-240 ## What's New In Version 5.0.5 (2020-January-10) This is a bugfix-release ### Changes * SE: update RiMTA version to 5.7.1 * SE: add a pointer towards the sun, useful for better understanding thermal data and LiDAR noise * SE: add the PhaseOne IXM-50 * SE: load changelog from server, not from local data * SE: add selection icons * SE: simplify LiDARSnap menu * SR: move writing of thermal data into a worker thread * SR: webinterface beta ## What's New In Version 5.0.4 (2019-December-04) This is a bugfix-release ### Changes * SE: update linux rdblib to 2.2.1, * SE: fix crash on LAS export, * SE/SR: update component reporting, * SE/SR: fix support for IMU-29, * SE: Improve GCP visualization, * SR: fix kalman filter reset when using SETINITAZIMUTH for testing, * SE: fix crash when license is missing for CameraSnap, * SE: fix import of LiDAR calibration data, * SE: fix import of locally stored settings-profiles, * SE: fix inconsistent camera rotation conventions between calibration and colorization, * SE: speed up colorization, * SE: add smooth colorization (removes seamlines), * SE: use AVX512 to speed up cloud (de)serialization, * SE: move rendering to background thread, * SE: fix tiny sensor size/aspectratio inconsistencies in camera database, * SE: add Sony A7R4, * SE: add crossmodal camera calibration (i.e, uses the pointcloud), * SE/SR: port ComponentInfoto v2 API, store ComponentInfo in PLP, * SE: rework cloud filtering dialog, * SE: fix camera layer opacity, * SE: only show clear-cloud-warning once, some users often clear the cloud during acquisition, * SE/SR: fix realtime points not appearing on some systems, * SE: warn user when camera isn't triggering, * SR: warn user when velodyne firmware state is inconsistent, * SR: log QM8 SNMP values, * SR: fail gracefully when VUX measurement programs are blocked, * SE: fix LS1 visualization layer ## What's New In Version 5.0.3 (2019-September-27) This is a bugfix-release ### Changes * SE: fix downscaling of preview photos, * SE: fix Ladybug session construction, * SE: suggest better filenames on cloud creation, * SE: update RiMTA version, * SE: improve loading/merging of multiple projects into one, * SE: allow loading geotiff images to colorize pointclouds, * SR: update GNSS antenna list, * SR: fix UDP streaming datagaps ## What's New In Version 5.0.2 (2019-August-27) This is a bugfix-release ### Changes * SR: fix crash when trying to start a Sony-a6k-Lite camera multiple times when its not detected, * SR: fix Riegl TLO warning showing up every 10s, * SE: fix crash when enabling profile mode with no points selected, * SE: fix crash in camera visualization in online mode, * SE: fix LAS export containing duplicate points, * SE: fix crash when sensor menus are open while being updated ## What's New In Version 5.0.1 (2019-August-20) This is the first public release of the 5.0 series ### Changes * Update version number and changelog ## What's New In Version 4.0.3 (2018-September-26) This is a bugfix-release ### Changes * SR: Fix plp saving a 0 bytes file, * SR: Make sure plp gets autosaved regularly when capturing photos, * SE: Use space (not tab) for terrasolix image timing lists, * SR: Fix camera orientations being off in realtime on some systems, * SE: Edit camera events, fix removal of single events, * SE: Edit camera events, add option to timeguard/debounce camera events ## What's New In Version 4.0.2 (2018-September-12) This is a bugfix-release ### Changes * SR: Fix importing of ladybug settings/profiles from rover3, * SR: Fix importing of lidar-rangescale from rover3, * SE: Update missing-files dialog, * SE: Initial support for parsing PhaseOne photo timing, * SE: Fix import of numerically sorted photo filenames (photo1.jpg, photo10.jpg, photo2.jpg, …), * SE: Allow importing lidar sessions with invalid headers, * SE: Fix Riegl RXP seeking, * SE: Fix Velodyne seeking, * SE: Speed up openstreetmap tile loading, * SE: Show more points in realtime, * SR: Improve management of incoming realtime-poses when no LiDAR data comes in, * SE: Fix crash when showing camera parameters, * SR: Fix incorrect warning about broken georeferencing when stopping Headwall capture, * SR: Don’t warn on velodyne datagaps smaller than 180deg, * SR: Increase event debouncing to 200msecs, * SR: Fix navbox shutdown taking up to 5 minutes, * SE: Fix the flightplanning dialog not updating on camera model changes, * SL: Don’t let SpatialLightHouse send a default 0/0/0-position from settings to RTCM casters that require it, use rover-position by default ## What's New In Version 4.0.1 (2018-July-13) This is a feature-release named 4.0.1 to not be confused with the 4.0.0-beta released to some customers ### Changes * SF: Has been replaced with SpatialExplorer, which now exports acquisition data to LAS files., * SR: Creates PLP (Phoenix Lidar Project) files during acquisition, which contain session and configuration data. There are no more CAM files, exposure information is now included in the PLP., * SR: StatusLED support. Rover can indicate status-information through a USB-connected LED: 4 red flashes mean no GNSS reception, 3 red flashes mean system is aligning, 2 red flashes mean no LiDAR data is being captured, 1 red flash means no photos are captured, constant green means the system is capturing all data as specified., * SR: Rover has a new offline-mode, so that there is no need to connect with SpatialExplorer in the field. Rover can start automatically to collect navigation data when a StatusLED is detected or (as before) when SpatialExplorer connects. It can start the sensors either after 5 minutes of runtime (to give time for warmup and alignment), once the system moves or whenever the system moves. Minimum velocities can be freely defined. System is shut down by just pushing the CPU button., * SR: Configurable update rates for status, positions and poses., * SR: Support splitting of LiDAR data files by size., * SR: Support for Spinnaker-based FLIR-cameras., * SR: Support for auto-exposure-by-default for Basler and FLIR cameras., * SR: Support accurate time-synchronization (i.e., hardware-GNSS) of the Ladybug5+., * SR: Initial support for cameras with multiple receptors (e.g. Ladybug, SlantRange)., * SR: Support for new IMUs and navigation systems., * SE/SR: Support for per-laser corrections to better calibrate multi-laser sensors., * SE/SR: Support for the Velodyne VLP-32C., * SE/SR: Support 'Downward-FoV' to filter points by Scan-Angle-Rank (in vehicle-frame, where traditional frustum-blocking filtered in sensor-frame)., * SE/SR: Support for radio-modems (support for serial connections and a protocol-redesign that makes efficient use of slow serial connections to transfer status, commands, configuration, and – depending on link speed – also some points or even image previews)., * SE/SR: Improved update mechanism to also allow updating of dependencies, which should make updates more reliable., * SE/SR: Improved profile management., * SE: Can open PLP files to re-open all of the projects data-files and their settings., * SE: Improved terrain with better visualization and without gaps., * SE: Improved KML support for pilot-guidance during manned acquistion., * SE: Eye-dome lighting allows for much better visualization, showing details that were previously invisible., * SE: NDVI colorization of LIDAR pointclouds through direct georeferencing by using SlanRange imagery captured during the LiDAR flight., * SE: added help-texts for many settings in rover’s settings dialog., * SE: Support for importing ground control points., * SE: Support for importing multiple trajectories (e.g. realtime, postprocessed) and switching between them., * SE: Support for writing image metadata (position) into EXIF headers for easier import into PhotoScan and Pix4D. ## What's New In Version 3.5.3 (2018-January-17) This is a bugfix-release. Problems were found in 3.5.2 shortly after release, so it never made it into distribution. ### Changes * SR: support Ladybug 5+, * SR: fix memory leak causing rover to hang during acquisition in rare cases (dense octree and long acquisition), see Service Bulletin 2, * SR: fix rover CPU load, * SF: fix Riegl VUX1-HA data handling issue, * SF: fix crash during colorized LAS export, * SF: add auto-CoordinateSystem option ## What's New In Version 3.5.1 (2017-September-23) This is a bugfix-release ### Changes * SE: fix vertical measurement in profile view, * SR: fix crash in realtime-RGB mode, * SF: allow writing Riegl amplitude to LAS pointSourceId, * SF: fix reflectance/intensity not showing in LAS files, * SR: fix Riegl command execution, don’t hang when no scanner present ## What's New In Version 3.5.0 (2017-August-21) This is a feature-release ### Changes * SE: no longer require NVIDIA, AMD cards now also work. OpenGL 4.3 is still required, * SE: remove CUDA dependency, * SE: improve point picking robustness, * SE: improve profile view robustness, support measuring in profile view, * SE: improve openstreetmap layer, * SE: add flightplanning module, * SE: support loading KML in the map view, * SE: support profiles stored on rover, * SE: add maplayer pane, clean up view menu, * SE: rework intrinsic camera calibration, * SE: allow writing incoming points to LAS file in real-time, * SE: show trajectory right after loading, * SE: support native IE trajectories (CLS/CTS solutions, no need to export to pof/sbet), * SE: support for new IMUs 18, 25, 41,44, 52, * SE: support serial communication with rover, * SR: support headwall nano acquisition, * SR: support photogrammetry-only mode (no IMU, no LiDAR, just georeference camera images), * SR: increase default realtime trajectory rate to 50Hz, * SL: fixed crashes when using NTRIP, * SL: support serial communication with rover through SE, * SF: no longer require NVIDIA, AMD cards now also work. OpenGL 4.3 is still required., * SF: add processing intervals, with option to import/export, * SF: add flightline auto-splitting, * SF: show arrows to indicate direction of trajectory, * SF: allow creating separate LAS file per processing-interval/flightline, * SF: allow creating intervals by right-dragging in the graph, * SF: allow creating intervals by CTRL-right-clicking in the graph, * SF: add coordinate conversion, * SF: colorize point using photos that are either close in time or close in space, * SF: improve color projection robustness, * SF: optimize processing, yielding a 10% speedup, * SF: properly handle and display LAS writing errors, * SF: add geoid support, * SF: support LAS 1.4 output, * SF: support loading KML in the map view, * SF: new trajectory plot tool, * SF: support native IE trajectories (CLS/CTS solutions, no need to export to pof/sbet) ## What's New In Version 3.0.9 (2017-May-18) This is a bugfix-release ### Changes * RV/SE: More miniVUX1-UAV fixes * SE/SF: Remove dysfunctional “Export to TerraSolid Image List” entry ## What's New In Version 3.0.8 (2017-April-20) This is a bugfix-release ### Changes * RV/SE: Add support for miniVUX1-UAV * RV/SE: Add support for VUX1-LR 820KHz reduced power program ## What's New In Version 3.0.7 (2017-April-09) This is a bugfix-release ### Changes * RV: fix IMU datagaps in first 20s of some datasets, causing IE to complain * SE/RV: remove option for navigation system to save current config as default * SE/RV: remove option for navigation system to NOT initialize logging * SL: use “rover-wifi” as default hostname for direct connections * RV: fix rover not initializing navigation system properly when streaming binary UHF data during system startup * SE: fix crash in rover settings dialog in cornercases * SL: do not show rover-position in log window when NTRIP caster doesn’t require it * SE/RV: fix not updating position/status in corner cases ## What's New In Version 3.0.6 (2017-March-02) This is a bugfix-release ### Changes * SL: improve compatibility with older NTRIP casters * SL: fix sending of rover-position (GGA) to NTRIP caster * SR: support rolling-shutter basler cameras * SE: correct number of photos taken in system status What's New In Version 3.0.5 (2017-January-30) This is a bugfix-release Changes * SF: fix issue preventing startup on some machines ## What's New In Version 3.0.4 (2017-January-04) This is a bugfix-release ### Changes * RV: fix handling of leap-seconds after 2017-01-01 * RV: fix UHF corrections coming in late or not at all for some streams * RV: prevent losing photorecords when rover isn’t shut down correctly * SL: more fixes on CHC bluetooth mode with UHF radio settings * SE/SF: fix SBET gps week heuristic. If the SBET was in a folder with a name starting with “YYYYMMDD”, it was opened with an incorrect GPS week * ALL: update dynamic-linked dependencies ## What's New In Version 3.0.3 (2016-October-21) This is a bugfix-release ### Changes * SE: show IMU orientation meaning * SL: fix CHC blue LED flashing after CHC powerup * SL: fix CHC bluetooth mode on CJK locales * SR: remove annoying warning about not being able to connect to connectionservice * SE: show 3 decimal digits for lidar packets * SE: fix realtime-points not showing on VLP16 * SE/SF: improve reobustness of conversion from rover2’s .photo files to .cam files ## What's New In Version 3.0.2 (2016-October-04) This is a bugfix-release ### Changes * SL: improve RINEX conversion robustness, * SL: fix position-averaging for CHC reference stations, * SL: fix known-position UI, * SL: make NMEA-GGA interval configurable, * SE: improve CAM file handling robustness ## What's New In Version 3.0.1 (2016-September-14) This is a bugfix-release ### Changes * RV: fix basler/genicam chunking support, made basler cameras unusable in 3.0.0 ## What's New In Version 3.0.0 (2016-September-13) This is a feature-release ### Changes * official support for new cameras: Point Grey Ladybug5, Point Grey Blackfly S, Xenics Gobi and Serval thermal cameras, * official support for new LiDAR sensors: Riegl VUX-1 LR, Riegl VUX-1 HA, Quanergy M8, * SF: 3d map to better choose parts of the scan to extract as LAS, * SF: pointcloud colorization, * SF: tool for intrinsic camera calibration, * SF: tool for photo georeference export, * SF: tool to convert raw images of genicam cameras, * SL: support for CHCX900+, including UHF and 4G connectivity, * SL: more robust RINEX conversion for NovAtel and CHC reference stations, * SL: support for Trimble and Leica SmartNet correction networks, * RV/SE: configurable realtime downsampling for complete visualization of longer/larger scans, * RV/SE: allow programming of Satel UHF modems, * RV: allow shutting down WiFi to support flying in RF restricted zones or reduce interference, * RV: support (daisychained) multi-camera setups for synchronous triggering, as well as external trigger inputs, * RV: support timestamped logging of external data via RS232 for 3rdparty sensor measurements, * SE: better camera management and image visualization, * SE: allow measurement of positions, paths and cross-sections – while scanning, * SE: added openstreetmap for better orientation, * SE: added raw IMU frequency spectrum for faster vehicle integration ## What's New In Version 2.0.10 (2016-January-13) This is a bugfix-release ### Changes * RV: fix version blunder. rover-2.0.9 thought it was rover-2.0.8, causing an infinite update loop * SF: support additional colorspaces ## What's New In Version 2.0.9 (2016-January-12) This is a bugfix-release ### Changes * RV: support basler cameras with GPIO ports * RV: improve remote UHF modem programming stability ## What's New In Version 2.0.8 (2015-December-17) This is a bugfix-release ### Changes * RV: allow NOT setting rotational velocity by setting RPM to -1. Allow setting 0 to stop spinning * SE: Reworked IMU visualization. Now works for all IMUs and has configurable range ## What's New In Version 2.0.7 (2015-December-07) This is a bugfix-release ### Changes * RV: tcp port 5000 is now forwarded to IoConnector serial port. Useful for remote-programming radiomodems * SE: “File->Load KML” allows loading/displaying of KML/KMZ for flight-planning. Initial support for Polygon, LineString and Point/Placemark * LH: support more basler pixelformats for image conversion ## What's New In Version 2.0.6 (2015-October-06) This is a bugfix-release ### Changes * RV: allow custom camera trigger commands ## What's New In Version 2.0.5 (2015-September-23) This is a bugfix-release ### Changes * SF/EX: also check second velodyne return for minimum distance * SF: respect covariance thresholds * EX: add number of received sats per constellation in satellite view * LH: create new GNSS log files for every session instead of overwriting previous files ## What's New In Version 2.0.4 (2015-August-13) This is a bugfix-release ### Changes * SF: improve handling of small .ldr files, make sure all points get fused * SF: fix trajectory analysis progress bar ## What's New In Version 2.0.3 (2015-August-12) This is a bugfix-release ### Changes * SF: fix non-terminating conversion when converting many .ldr files, * SF: pylon image conversion: update status after every image, * SF: pylon image conversion: add mono12 support, * SF: propagate point source ID to LAS file, * RV: fix pylon images being overwriten by succeeding captures, * RV: for pylon, use 0-based image index (not 1-based) ## What's New In Version 2.0.2 (2015-August-05) This is a bugfix-release ### Changes * SF: fix invalid LAS files on some machines when creating LAS files >4GB * RV: fix camera capture thread state management * RV: fix inappropriate error message when no camera present (USB/Pylon) * EX: do not overwrite camera capture preview with empty preview * RV: only warn of connectionservice-timeout when the connection worked before ## What's New In Version 2.0.1 (2015-July-29) This is a bugfix-release ### Changes * RV: fix NAV packet processing when system is started without GNSS reception and time is still unknown * RV: fix focus/shutter-cable levels * LH: fix swapped lat/lon fields in known-position tab * LH: allow using NTRIP networks that need NMEA/GGA * LH: add plaintext .txt log file containing all messages printed in log window * LH: fix RINEX time intervals ## What's New In Version 2.0.0 (2015-July-22) This is a feature-release ### Changes * Extended LIDAR support: Velodyne VLP 16, Ibeo LUX, Riegl V-Line * Up to 4 LIDAR sensors can be used at the same time * Official support for Velodyne’s multiple returns * Support for more Cameras (USB, Infrared, Genicam, Basler, …) * Support for radiomodems (integrated or external) * Faster processing due to multithreading * Display of system voltage, extended diagnostics * SDK allows your applications to run on rover, for custom applications like collision avoidance and path planning * Direct conversion of GNSS reference station data to RINEX, supporting services like OPUS, AUSPOS or equivalent * … and many more ## What's New In Version 1.5.3 (2015-January-01) This is a bugfix-release ### Changes * SE/RV: fix satellite tracking list display ## What's New In Version 1.5.2 (2015-January-01) This is a bugfix-release ### Changes * RV: fix LIDAR point log max packet size ## What's New In Version 1.5.1 (2015-January-01) This is a bugfix-release ### Changes * SE: fix CUDA error preventing startup on some machines ## What's New In Version 1.5.0 (2015-January-01) This is a bugfix-release ### Changes * SE: Add pointcloud update batch size option functional * SE: Add Ortho/Perspective switch * SE: Allow showing more points * SL: Show vertical datum of reference station used for averaging * SE: Show number of satellites used for heading when rover is connected to heading receiver * SL: Show number of tracked satellites * SL: Warn user when entering wrong coordinates * SE: Fix bug where replaying would automatically restart at the beginning upon reaching the end * SL: Show reference station averaging status * SE: Show TOW instead of seconds-since-GPS * SF: Show TOW instead of time-since-first-LIDAR-data * SE: Fix GNSS Solution Type display, display flag for AdvanceRtkVerified * SF: Fix text running out of timelines * SF: Make graphing 10x faster, show GNSS solution status * SE: Display the age of the last GNSS solution * RV: Allow forcing slower and more robust ambiguity fixing for difficult environments * RV: Allow configuration of timeouts for differential corrections (rtk/psr) * RV: Extend GNSS status information display (BESTGNSSPOS) * SF: Allow hiding graphs by clicking on legend item * SF: Add velocity graphs ## What's New In Version 1.4.2 (2015-January-01) This is a bugfix-release ### Changes * allow rover to amend navigation system configuration using binary packet files * Remove application PIDs from logfile names * Disable covariance thresholds when replaying scans in SpatialExplorer * Fix GPS TOW field in time selection widget * Fix LIDAR orientation offset conventions * Use UTC times for logging of all components ## What's New In Version 1.4.1 (2015-January-01) This is a bugfix-release ### Changes * Add apply-button to rover settings * Do not set velodyne speed when same speed was already written ## What's New In Version 1.4.0 (2015-January-01) This is a bugfix-release ### Changes * Allow remote firmware upgrade * Add GPS Week and TOW to time dialog * Add SpatialLightHouse for a separately connected reference station * Make sure that SpatialExplorer is run on the NVIDIA card on hybrid/optimus systems without manual configuration * Allow scanning without reference station * Set cartesian origin for live view depending only on position-covariances * Add encrypted and authenticated connection service for mobile 4G scanning sessions * Add about-window * Made UTC->GPS leap seconds adapt automatically * Allowed reference station posave times longer than 1h" ## What's New In Version 1.3.0 (2015-January-01) This is a feature-release ### Changes * Renamed Basestation to SpatialExplorer * Renamed PostProcessor to SpatialFuser * Added angular stride/downsampling option to SpatialFuser * Added fullscreen option to SpatialExplorer * Added user-accessible configuration for SpatialExplorer in SpatialExplorer * Added user-accessible configuration for Rover in SpatialExplorer * Added option to modify blocked frustums when replaying flights in BaseStation * Added option to set Velodyne HDL32e rotational speed * Added INS and Onboard-Computer temperature in SpatialExplorer * Fixed occasional appearance of spurious lines of 32 points * Fixed time widget (GPS time didn’t change) * Made SpatialFuser more robust against corrupt packets in INS data * Warn when thermal/electrical INS parameters grow out of acceptable range --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. 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