second season of Star Trek: Deep Space Nine were in production. Seeds for Voyagers backstory, including the development of the Maquis, were placed in several The Next Generation and Deep Space Nine episodes. Voyager was shot on the stages The Next Generation had used, and where the Voyager pilot "Caretaker" was shot in September 1994. Costume designer Robert Blackman decided that the uniforms of Voyagers crew would be the same as those on Deep Space Nine. Star Trek: Voyager was the first Star Trek series to use computer-generated imagery (CGI), rather than models, for exterior space shots. Babylon 5 and seaQuest DSV had previously used CGI to avoid the expense of models, but the Star Trek television department continued using models because they felt they were more realistic. Amblin Imaging won an Emmy for Voyagers opening CGI title visuals, but the weekly episode exteriors were captured with hand-built miniatures of Voyager, its shuttlecraft, and other ships. This changed when Voyager went fully CGI for certain types of shots midway through season three (late 1996). Foundation Imaging was the studio responsible for special effects during Babylon 5s first three seasons. Season three's "The Swarm" was the first episode to use Foundation's effects exclusively. Star Trek: Deep Space Nine began using Foundation Imaging in conjunction with Digital Muse in season six. In its later seasons, Voyager featured visual effects from Foundation Imaging and Digital Muse. The digital effects were produced at standard television resolution and some have speculated that it cannot be re-released in HD format without re-creating the special effects. However, Enterprise has been released in HD, but the special effects were rendered in 480p and upscaled. Music Unlike The Next Generation, where composer Jerry Goldsmith's theme from Star Trek: The Motion Picture was reused, Goldsmith composed and conducted an entirely new main theme for Voyager. As done with The Next Generation and Deep Space Nine, a soundtrack album of the series' pilot episode "Caretaker" and a CD single containing three variations of the main theme were released by Crescendo Records in 1995 between seasons one and two. In 1996, the theme was also released as piano solo songbook. In 2017, La-La Land Records issued Star Trek: Voyager Collection, Volume 1, a four-disc limited-edition release containing Goldsmith's theme music and tracks from Jay Chattaway's "Rise", "Night", the two-parter "Equinox", "Pathfinder", "Spirit Folk", "The Haunting of Deck Twelve", "Shattered", "The Void", and