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ChangeLog

HARK 3.5.0 (Nov. 25, 2023) : Only released on Ubuntu

  • NewFeatures
    • Improved stability of PyHARK (HARK library and Python bindings).
    • Updated KaldiDecoder. KaldiDecoder 3.5.0 was rebased from commit 1a233a11db0b28aa4966a4e271c839c135de5914 with support for Python 3.x.
  • BugFixes
  • KnownIssues
    • Updating parameters while HARK is running using the HarkParamsDynReconf node can cause TCP sessions to disconnect.
  • Notices
    • Please rest assured. The conventional implementation of HARK will continue to be supported along with the new implementation of hark-lib.
    • Updated the build system to support the next LTS Ubuntu 24.04 environments: Changes include support for new versions of CMake, debhelper, etc., and support for pyproject.toml for Python modules.
    • In order to use the plotting node used kivy, additional installation of the new kivy garden graph v0.4.1dev0 or later is required along with kivy v1.5.0 or later.

HARK 3.4.0 (Nov. 23, 2022) : Only released on Ubuntu

  • NewFeatures
    • Released a new feature for using hark modules from Python. The user just calls import hark. It consists of a new HARK acoustic library implementation in C++ called hark-lib and a Python bindings implementation in pybind11.
    • Provides user-defined node implementation and network definition method on Python.
    • Provides a transparent migration path to embedded devices.
    • Users can choose to easily use HARK in Python or have fine-grained control over HARK via a C++ compatible low-level API.
    • Updated KaldiDecoder. KaldiDecoder 3.4.0 is a speech recognition engine based on newer than Kaldi 5.5.636, which has not yet been given a version. (KaldiDecoder 3.1.2 was based on Kaldi 5.5.214.)
  • BugFixes
  • KnownIssues
    • Updating parameters while HARK is running using the HarkParamsDynReconf node can cause TCP sessions to disconnect.
  • Notices
    • Please rest assured. The conventional implementation of HARK will continue to be supported along with the new implementation of hark-lib.
    • End of support for Ubuntu 18.04 environment. You can still download and install released packages, but if you ask a question on the forum, we may not be able to support it because we don’t have an environment to check.
    • In order to use the plotting node used kivy, additional installation of the new kivy garden graph v0.4.1dev0 or later is required along with kivy v1.5.0 or later.

HARK 3.3.0 (Nov. 27, 2021) : Only released on Ubuntu

  • NewFeatures
    • Experimentally released a new feature for using hark modules from Python.
    • Released the online transfer function estimation features.
    • Updated the documentation for the online transfer function estimation nodes.
    • Updated KaldiDecoder. Support for node pruning model, lattice combine feature and etc…
  • BugFixes
  • KnownIssues
    • Updating parameters while HARK is running using the HarkParamsDynReconf node can cause TCP sessions to disconnect.
  • Notices
    • End of support for Ubuntu 16.04 environment. You can still download and install released packages, but if you ask a question on the forum, we may not be able to support it because we don’t have an environment to check.
    • In order to use the plotting node used kivy, additional installation of kivy (legacy) garden graph v0.4.0 is required.

HARK 3.2.0 (Nov. 21, 2020) : Only released on Ubuntu

  • NewFeatures
    • Provided new feature for MQTT support to facilitate processing distribution and system integration.
    • Experimentally released a new feature for estimate the transfer function.
    • Provided several other functional modules. e.g.) Provided the new feature of single channel(s) voice activity detection module (VAD_ZC node), Cross-power Spectrum Phase Analysis based localization module (CSP node) and etc …
    • Updated documentation for plotting nodes by Kivy.
    • Updated HARK-ROS for ROS noetic. Supports ROS noetic on Ubuntu Ubuntu20.04 (focal).
    • Updated KaldiDecoder. KaldiDecoder 3.1.2 is a speech recognition engine based on Kaldi 5.5.
  • BugFixes
  • KnownIssues
    • Updating parameters while HARK is running using the HarkParamsDynReconf node can cause TCP sessions to disconnect.
  • Notices
    • Since Ubuntu 16.04 does not provide the python3-paho-mqtt package from the official repositories, the equivalent package is provided from the HARK repository.
    • In order to use the plotting node used kivy, additional installation of kivy garden graph is required.

HARK 3.1.0 (Nov. 21, 2019) : Only released on Ubuntu

  • NewFeatures
    • Provided new feature for processing distribution.
    • Updated HARK-Python3 to support the new GUI library. Previously it supported plotting engine with matplotlib or QT4, but HARK 3.1.0 also supports a new plot engine with Kivy.
    • Released KaldiDecoder. KaldiDecoder 3.1.0 is a speech recognition engine based on Kaldi 5.5.
    • Supported building with gcc9.x.
  • BugFixes
  • KnownIssues
  • Notices
    • Since Ubuntu 16.04 does not provide the python3-paho-mqtt package from the official repositories, the equivalent package is provided from the HARK repository.

HARK 3.0.7.1 (Jun. 24, 2019) : Only released on Ubuntu

  • NewFeatures
  • BugFixes
    • Reduced the optimization level of wios package.
  • KnownIssues
  • Notices

HARK 3.0.7 (Jun. 07, 2019) : Only released on Ubuntu

  • NewFeatures
  • BugFixes
    • Fixed an issue where source project version and debian package version are different.
  • KnownIssues
  • Notices

HARK 3.0.6 (May. 29, 2019) : Only released on Ubuntu

  • NewFeatures
  • BugFixes
    • Fixed an issue where HARK-ROS(for melodic) was being installed in the wrong path.
      This issue only occurred in Ubuntu 18.04.
      Both hark-ros-melodic and hark-ros-msgs-melodic have been updated.
  • KnownIssues
  • Notices

HARK 3.0.5 (Mar. 08, 2019) : Only released on Ubuntu

  • NewFeatures
  • BugFixes
    • Fixed an issue that error occurred when hidden input / output terminal was used. This issue occurred only in the network file that used hidden terminals on some nodes included in HARK-ROS or HARK-OpenCV2.
  • KnownIssues
  • Notices

HARK 3.0.4 (Feb. 05, 2019) : Only released on Ubuntu

  • NewFeatures
  • BugFixes
    • Fixed an issue where the compiler optimization option was not specified when creating deb package. This is a problem with the specification that forces CMAKE_BUILD_TYPE variable to None when the debhelper command calls cmake, so the user who compiled from the source code are not affected.
  • KnownIssues
  • Notices
    • Changed to use CMAKE_BUILD_TYPE=Release as initial value when CMAKE_BUILD_TYPE option was not specified when executing cmake command in CMakeLists.txt file. Also, we added a change specifying CMAKE_BUILD_TYPE when creating deb package in debian/rules file. There is no change in the source code related to the calculation so, the results are the same as when using the HARK 3.0.3 source code compiled with cmake -DCMAKE_BUILD_TYPE=Release .. .

HARK 3.0.3 (Jan. 31, 2019) : Only released on Ubuntu

  • NewFeatures
    • Updated HARK-Binaural+. HARK 3.0 series supports new binaural signal processing.
    • Updated HARK-Music. HARK 3.0 series supports beat tracking feature. This package currently only provides a node that performs beat tracking of songs.
    • Updated HARK-ENE. HARK 3.0 series supports multi-channel ego-noise suppression feature in HARK.
    • SaveMapFrames, SaveMatrixFrames and SaveVectorFrames are now able to output decimal point text of exponential expression.
  • BugFixes
  • KnownIssues

HARK 3.0.2.1 (Jan. 11, 2019) : Only released on Windows

  • NewFeatures
    • SaveMapFrames, SaveMatrixFrames and SaveVectorFrames are now able to output decimal point text of exponential expression.
  • BugFixes
    • Fixed the problem in which the feature file outputed by SaveFeatures and SaveHTKFeatures node was corrupted. This was a regression that happened in HARK 3.0 for Windows.
    • Includes bug fixes found in Ubuntu’s HARK 3.0.1.
  • KnownIssues
    • The cache file of HARK-Designer may not be updating and old files may still remain. If you can not find the TEXTFORMAT parameter on the SaveMapFrames, SaveMatrixFrames and/or SaveVectorFrames nodes in HARK-Designer, please delete the json files under ‘%ProgramData%\HARK\HARK\hark-designer\cache\’ and reload browser running HARK-Designer.
    • The function to automatically set the default value when a parameter is added to an existing node is currently not working in Windows HARK 3.0 series. If 'RuntimeError: HARK-Middleware: HARK exception thrown at harkmw/src/node.cc:139 (Node_init): harkmw/src/node.cc line 137: Exception while creating **Node name**' is displayed at execution time, please load the network file using HARK-Designer and overwrite it without changing anything.

HARK 3.0.1 (Dec. 26, 2018) : Only released on Ubuntu

  • NewFeatures
    • Updated HARK-ROS for ROS kinetic. HARK 3.0 series supports ROS kinetic on Ubuntu 16.04 (xenial).
    • Updated HARK-ROS for ROS melodic. HARK 3.0 series supports ROS melodic on Ubuntu 18.04 (bionic).
    • Updated HARK-Rescue. HARK 3.0 series supports new Human-Voice Enhancement features based on Online RPCA.
    • Updated HARK-OpenCV. HARK 3.0 series supports OpenCV2.4-based image processing in HARK. (From now on, we changed package name to HARK-OpenCV2 in order to differentiate it from OpenCV3.x and OpenCV4.x)
  • BugFixes
    • Fixed a problem in which a memory leak occurs when exiting with Ctrl+C when using the Sleep node.
    • We fixed bug that occurs only on Windows.
  • KnownIssues

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
  • Notices
    • For Windows users: AudioStreamFromMic’s DEVICETYPE parameter was changed. “WASAPI” will now be used to replace “DS” option. For TAMAGO (and anothor USB microphone array) users, please make sure to select “WASAPI” from now on. In order to use networks created in previous HARK versions in which “DS” was selected, HARK for Windows 3.0.0 will internally change “DS” to “WASAPI”. Please note that this does not work vice versa. The same settings used in “DS” still apply with “WASAPI”, that is, the same parameters will be used.
    • We have confirmed the phenomenon that CPU usage increases excessively in environments where the processor has many cores. This issue may be improved by specifying “export OMP_NUM_THREADS=1” and/or “export OPENBLAS_NUM_THREADS=1”.

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
    • Fixed an issue where extra padding bytes was inserted in the packets sent by HarkDataStreamSender. This problem only occurred after HARK 2.0 running under 64 bit operating systems.
  • 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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