BoofCV Change Log

Change Log

Date Format: year/month/day

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Date  : 2013/02/16 Version : Alpha 0.13

• Removed TupleDescQueue
  • Use UtilFeature.createFeature() instead or extend FastQueue
• Fixed bug in ImplSelectSparseStandardWta_* where peak checks for 0 disparity were incorrectly handled
• FactoryPointSequentialTracker tweaked tracker configurations for better SFM performance
• PointTrackerKltPyramid can now create new data to store tracks after init
• Made scale configurable in corner based interest points
• Renamed GeneralAssociation to AssociateDescription
• Added AssociateDescription2D for association with location info
• ScoreAssociateCorrelation no longer takes the abs()
• SIFT
  • Accounts for offset during sub-sampling
  • Documents deviations from paper in pyramid construction
  • Tweaked pyramid construction
  • Tweaked non-maximum suppression
• Improved handling of Max Features in SURF + SIFT
  • All features are considered in order of intensity
  • Features are no longer added once the max has been reached
• Point Trackers
  • Renamed and changed function
  • Created interface for extracting feature descriptions
  • Added variant designed for two pass tracking
• Chessboard and Square grid calibration target detectors
  • Made minimum blob automatically adjust to image size
  • Made it user configurable
  • These changes allow calibration of 320x240 images
  • Fixed multiple bugs/issues so that it detects targets more reliably
• PerspectiveOps.scaleIntrinsic() changes image width/height
• Improved unit tests for MultiSpectral images
• ImageConvert
  • Added support for ImageSInt64
  • Added support for MultiSpectral to SingleBand using average
  • Added GImageConvert
• Code to convert between different types of TupleDesc
• Fixed bug in TupleDesc_F64 SAD scorer
• Added approximate nearest neighbor from DDogleg
  • k-d tree best-bin-first
  • k-d random forest
• Changing the way complex algorithm are configured
  • Instead of passing in parameters to a factory a config class is passed in.
  • Affected: SIFT, SURF
• PixelMath
  • Fixed bug in PixelMath.subtract for ImageUInt8
    • Thanks Paul Dumais for reporting the problem
  • Added PixelMath.invert()
• Associate and ScoreAssociation
  • Added ability to set a threshold via Associate interface
  • Can get a list of unassociate destination features
  • Can determine if the algorithm selects a unique match for source and destination
  • Created MatchScoreType to provide more information on the score's behavior
• Created EasyGeneralFeatureDetector
  • Automatically handles image derivatives
  • Split off from WrapGeneralFeatureDetector
• GeneralFeatureDetector
  • moved to alg package
  • can now detect local minimums
  • Removed ability to segment image. Turned out to not be all that useful, just increase the size of the non-maximum region.
• Non-Maximum supression
  • Renamed FeatureExtractor to NonMaxSuppression
    • Removed the parameter for requesting the number of returned features
  • All algorithms contained a bug where the ignore border was being incorrectly enforced
  • Added support for detecting maximums and minimums
• Fixed bugs in SortBestFeatures and added sort for negative peaks
• GeneralFeatureIntensity: Added flags to indicate if features are maximum or minimums
• Calibration package was missing from Maven build
• Removed maxMatches from greedy assocaition since its not part of Association interface and can be easily added
• Android
  • ConvertNV21 * Convert camera preview images into BoofCV image types
  • VisualizeImageData * Render different types of image information into a visible format
• Fixed bug in RemoveRadialPto*_* where it couldn't detect convergence
• 2D stabilization checks image fraction contained by points before spawning more points
• LaplacianEdge added suport for U8 in and F32 out
• Added kernel based (using LaplacianEdge) blob detector
• GridRansacLineDetector has support for S16 an F32
• Redesigned image stabilization and mosaic code
  • Much easier to work with now and can be plugged in a high level
  • Added a factory for creating related algorithms
• Stereo Disparity: support for ImageSInt16

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Date  : 2012/12/05 Version : Alpha 0.12

• Fixed inverse wavelet transform so that it bounds the pixel values
  • Wavelet denoising sometimes overflowed
• Adding new feature tracker which combines KLT and DDA style tracking
• Updated Pyramid KLT tracker
  • Removed PkltTrackManager and pushed its functionality into the ImagePointTracker implementation
  • Was only separate for historical reasons
  • renamed PstWrapperPyramidKlt to PointTrackerKltPyramid
  • Deleted GenericPkltFeatureSelector and put into KLT point tracker
  • Moved what was left into KLT directory
• ImagePointTracker
  • Changed contract, more fully specified contract, improved tests
  • Updated behavior of implementing classes
• Deleted KeyFramePointTracker
  • Added pointless complexity. Use ImagePointTracker instead
  • Changed 2D and 3D SFM algorithms which were using it
• Fixed bugs in various feature descriptors setTo() and copy() functions:
  • SurfFeature
  • TupleDesc_B
  • NccFeature
• Feature Descriptors
  • No longer have hidden orienation estimation algorithms inside
• Feature Orienation
  • Interfaces moved to abst package
  • Created wrappers to convert different types into image input
  • Added a new factory
• Created DetectDescribePoint interface
  • Combines detection and describing into a single interface
  • Useful for algorithms which have coupled data structures are are more efficient this way.
• FactoryPointSequentialTracker has been tweaked a bit
• GeneralAssociation provides two functions for specifying the source and destination lists
  • Allows better optimization since preprocessing might only need to be done once
• ConvertBufferedImage
  • Added support for sub-image BufferedImages
• All numerics code has been put into its own project
  • http://ddogleg.org
• Reworking several basic image operations
  • Created ImageMiscOps
  • Created ImageStatistics
  • Deleted ImageTestingOps
  • Changed PixelMath
  • Changed GeneralizedImageOps
• Added setTo() in ImageBase
• FastHessianFeatureDetector now recycles ScalePoints that it detects
• Removed canoncialRadius() from feature detector and descriptor
  • It was poorly implemented
  • Was not consistent with scale-space theory
• Added 2D convolution in KernelMath
• Maven build has been added.
  • BoofCV is on the central repository
• Added SIFT feature descriptor and detector
• Removed seperable kernel
  • Wasn't being used and there is no need for it with more modern techniques
  • Plus it was causing a unit test to fail
• Removed Gaussian12 and Steerable feature descriptors
  • They sucked and were not properly implemented limited their historical value

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Date  : 2012/11/6 Version : Alpha 0.11

• Association Score
  • Normalized Cross Correlation (NCC) has been fixed (yet again) in ScoreAssociateNccFeature where the abs() was incorretly being taken.
  • Fixed bug in NccFeature.setTo()
• FactoryAssociation
  • Added NCC to defaultScore()
• Template Matching
  • Added NCC template matching algorithm
  • TemplateScoreType: ERROR_SQUARED renamed to SUM_DIFF_SQ
• ModelSet
  • Original index of inlier set can be requested now
  • Removed the ability to generate multiple hypotheses. Was not needed after all.
  • RANSAC score has been deleted and RANSAC simplified
• RectifyImageOps
  • Cleaned up function names and improved documentation
• LensDistortionOps
  • Added transformRadialToPixel_F64()
• Reorganized functions in geometric vision package
  • Created MultiViewOps and PerspetiveOps
  • Refactored/deleted other related Util classes
  • Enums are now used to select which algorithm is returned in the Factory in many cases
  • New interfaces for each problem and improved JavaDoc
• Moved AssociatedPair and PointPositionPair to boofcv.struct.geo package
• Trifocal Tensor
  • Added related functions to MultiViewOps
  • Added linear estimator for 7+ points
• PnP Problem
  • Added two P3P solutions
  • Analytic Jacobian for non-linear refinement
  • Refactored class names for better consistency
• Fixed bugs in StereoSparse3D
• Fixed bug in DistortImageOps.boundBox_F32()
• Added ImageGridPanel to display a set of images as a grid
• ModelMatcher added getMinimumSize()
• Renamed PointPosePair to Point2D3D since the old name was misleading
• Visual Odometry
  • Added stereo camera based algorithm that uses PnP for pose estimation
  • Removed broken mono and stereo algorithms
• DetectAssociateTracker
  • Changed from an abstract class into a regular class
  • Deleted SURF,BRIEF,NCC specific implementations since they are no longer needed
• AssociatedPair
  • renamed key and curr points to p1 and p2
  • new names are more generic and consistent
• DetectAssociateTracker
  • Changed internal design a bit and fixed bugs
  • Performs well in structure from motion applications (2D and 3D)
• ImagePointTracker accessors changed so that a storage list is requested
  • Makes usage easier since now its impossible to drop a track while reading from the main list.
  • Updated implementations so that the internal list is not returned
  • Removed addTrack() since only KLT supported that functionality, hence not generic.
• ConvertBufferedImage
  • Fixed bug where INDEXED images where not being converted correctly

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Date  : 2012/09/18 Version : Alpha 0.10

• Association Score
  • Pushed implementations of ScoreAssociation into abst package
  • Put most association distance algorithms into DescriptorDistance
  • Added hamming lookup table
  • Brief now uses a look up table. About a 7x speed improvement.
  • FactoryAssociate now can create instances of ScoreAssociate.
  • Fixed incorrect NCC equation. Thanks Christian Kramer.
• DescribeRegionPoint has been redesigned
  • Now more generic and can work with any feature descriptor
  • Separate function for checking to see if feature is inside bounds
• TupleDesc
  • changed to an interface
  • functions added to provide some generic support
• Brief descriptor renamed to TupleDesc_B
  • Acts as a generic binary feature descriptor
• Descriptors
  • BRIEF and BRIEF-SO now can process features along the image border. Bit set to false in that case.
• Visualization Apps
  • VisualizeAssociationScoreApp has score type in a separate panel and can support binary descriptors
• InterestPointDetector
  • WrapFHtoInterestPoint now returns the correct detection radius
  • Fixed non-compliant implementations with incorrectly handled unsupported features. Thanks jasonnn for submitting this bug
• FAST Feature Detector
  • Original implementation was buggy and did not produce same results as original author's code
  • Rewrote from scratch and replicates original author results
• GeneralFeatureDetector moved from extract to interest package
• Fundamental/Essential Matrix
  • 7-point algorithm now returns all solutions and the algorithm was tweaked
  • Nister 5-pt Essential Matrix
  • Abstractions which can handle multiple solutions
  • Stability evaluator for epipolar matrices
  • Improved unit tests
• Polynomials
  • Various ways to find and polish polynomial roots (EVD and Sturm)
  • New data type and basic operations
• Added ExampleStereoTwoViewsOneCamera
  • Demonstrates how to perform stereo image processing using a single camera and two views
• LensDistortionOps
  • Added normalized to distorted pixel transform
  • Tweaked some of the function names
• SparseIntegralSample_I32.isInBounds() did not return that correct value along the right and bottom image border
• Functions inside of GThresholdImageOps did not return the number of blobs found like it should
  • Thanks jasonnn
• NonMaxBlockStrict
  • Fixed bug where it assumed intensity values were all positive
• TemplateMatching
  • Added code for template matching
  • Added example code to demonstrate its use
• Added support for alpha channel in ConvertBufferedImage
• FactoryPointSequentialTracker doesn't create trackers with FAST detector instead uses ShiTomasi to improve stability

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Date  : 2012/7/22 Version : Alpha 0.9

• Renamed factories
  • FactoryBlobDetector -> FactoryDetectPoint
  • FactoryCornerDetector -> FactoryDetectPoint
• Renamed KLT corner to Shi Tomasi corner, which is more standard
• Fixed bug various point detectors where if the input image was resized the edge intensity might not be zero when it should be
• Changed some corner detection algorithms to take the intensity image in as an input.
• Added new Pixel to Normalized transform
• Created interface for Stereo visual odometry
• Fixed bug in unsafe_set inside of ImageInt8
• Added unsafe_set() and unsafe_get() to ImageFloat32, ImageFloat64, ImageSInt64
• Fixed bug in ImageSInt64.set() where the value was cast into a short
• Changed transform* functions inside of DistortImageOps so that you can specify how outside image pixels are handled.
• Fixed bug in ImageHistogramPanel - reported by Ray
  • Added support for integer images
• Integration
  • Created ant build scripts
  • Updated Xuggler integration code
  • Added Android
• Generalized SimpleImageSequence so that it does not reference BufferedImage and will play nicer with Android
• Fixed bug in ImplImageDistort* where for 16bit and 32 bit images values were being type casted into bytes
• Changed UnconstrainedMinimization so that the minimum function value is specified in setFunction()
• Added ExampleContours
  • Thanks cspnanda for pointing out the lack of documentation
• New non-maximum suppression algorithm
  • About the same for 3x3 regions, much faster for larger regions
  • Tweaked related API and improved unit tests
• Fixed bug in WrapDescrivePixelRegion where the descriptor is not properly configured for integer images

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Date  : 2012/05/13 Version : Alpha 0.8

IMPORTANT Discard old calibration files and calibrate again with latest code!

• Added processing monitor to CalibrateStereoPlanarGuiApp
• Fixed bug in Zhang99 calibration where Rodrigues coordinates were being parameterized incorrectly
  • Calibration results would be less accurate, but have a lower residual due to the increased degree of freedom
• Added analytic Jacobian to Zhang99
  • Decided not to use it since it produces same estimation parameters as numerical.
• Added functions for creating detectors in FactoryPlanarCalibrationTarget
  • changed code to reference those functions
• Stereo Disparity Image
  • Dense and Sparse algorithms
  • Rectangular region winner take all (WTA)
    • Validation: right to left, max error, texture
    • Precision: Pixel and Subpixel
  • Algorithms:
    • Basic rectangular region
    • Five region adaptive: Hirschmuller, et. al. "Real-Time Correlation-Based Stereo Vision with Reduced Border Errors," 2002
• IntrinsicParameters
  • Added flipY to parameter list since it is vital information for many calculations.
• RectifyImageOps
  • Fixed bug in functions that adjusted the rectification for viewing. If left handed the coordinate systems got messed up
• Changed allInside() so that the annoying single pixel black region is gone
  • RectifyImageOps and LensDistortOps
• FactoryCornerDetector
  • Added flag for weighted KLT and Harris
• Added weighted corners to list of features in some evaluation apps
• Examples:
  • ExampleCalibrateMonocularPoints
  • ExampleDetectCalibrationPoints
  • ExampleStereoDisparity
• ImageTestingOps
  • Flip image vertical
• Fast point cloud viewer

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Date  : 2012/04/22

Version : Alpha 0.7

• Redesigned how evaluation apps/applets handle data input and configuration
• Removed the epipolar directory
  • More than just stereo algorithms in there
• Camera calibration outputs XML file containing intrinsic parameters
  • Java XML serialization
• For square calibration grids, added sub-pixel refinement using canny edge
• Fixed a bug in camera calibration where it transposed the grid instead of rotating it if the number of rows/columns needed to be swapped.
• 3D Vision Algorithms
  • Estimate translation given rotation and two observations
  • Refine pose estimate given set of 3D points and observations
  • Interface for n-view triangulation
  • Bundle adjustment for calibrated cameras
    • Analytic Jacobian
    • A bit slow right now
• Changed behavior of GeneralFeatureDetector
  • Supports sub-region extraction. Forces features to be more spread out
  • Max N now is the total number of features, including excludes
• Improved speed of Levenberg algorithm by taking advantage of symmetry
• UtilEpipolar
  • Added canonicalCamera() and decomposeCameraMatrix()
• Created the following Util and Ops classes
  • UtilIntrinsic
  • LensDistortionOps
  • RectifyImageOps
• Stereo Rectification
  • Calibrated with known baseline
  • Uncalibrated, from using a fundamental matrix.
  • Adjust rectification to maximize usefull viewing area
• New Examples
  • Estimate fundamental matrix
  • Rectify calibrated
  • Rectify fundamental matrix
  • Remove lens distortion
• The feature score was not being set in WrapAssociateGreedy
  • Thanks Nir Amar
  • Also changed AssociateSurfBasic for a similar reason
• Fixed problem in FundamentalResidualSampson where the denominator was being squared
• Fixed problem in Se3 Essential generator
• Changed positive depth constraint class

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Date  : 2012/03/01

Version : Alpha 0.6

• Added convolution related code for ImageSInt32
• Added weighted KLT and Harris corner detectors
• Refactored factory names and other classes to make them easier to find and more consistent
• Planar calibration grid detectors
  • Chess board pattern
  • Square grid pattern
• Generic code for detecting squares in binary images
  • Inside of calibration module
• Application for calibration from planar calibration targets
  • GUI and commandline
• ImageDistort
  • Fixed bug where border.setImage() was not being called
• ImageBorder
  • Added generalized get(x,y)
• Refactored FactoryImageBorder into two factories
• Fixed bug in several derivative operators where the passed in border was being ignored and an extended border being used instead
• Change ImplImageDistort* to use interpolate.get_unsafe() to speed it up by a large margin
• Moved ImageDistort from boofcv.alg.distort to boofcv.struct.distort
• Added PointTransform_F32
• Added both forward and reverse radial distortion PixelTransform_F32 implementations
• ModelMatcher classes can now create multiple model hypotheses from a single set of points.
• Changed ImagePointTracker to use PointTrack instead of AssociatedPair
  • Created KeyFramePointTracker to track features and create AssociatedPairs
• Added FactoryEpipolar
• Added FactoryTriangulate
• Added non-linear refinement for:
  • Fundamental/Essential matrix
  • Homography matrix
  • Triangulation
• Added 2-view and N-View triangulation algorithms
  • DLT
  • Closest point from two lines
• Added EPnP from Lepetit 2009 paper
  • Validation against author's code is pending
• Added color processing to several Apps
  • EvaluateInterpolateEnlargeApp
  • ShowImageBlurApp
• Added SimpleNumberSequenceReader for reading small sequences of numbers
• Added lens distortion app
• Found sudbtle bug in Harris corner detector.
  • Surprisingly doesn't seem to change output.

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Date  : 2012/02/01

Version : Alpha 0.5

• Improved SURF performance
  • Fixed various bugs and changed algorithm to improve performance
    • Both speed and stibility have been improved
  • Now is the best performing SURF implementation in the benchmark
• ImplOrientationSlidingWindowIntegral has been replaced with a faster and more accurate algorithm
• Improved integral image support
• Improved sparse gradient support
• Refactored sparse image operator code
  • Added SparseImageSample interface
• Added/Improved unconstrained non-linear optimization code
  • Quasi-Newton line search
  • Levenberg-Marquardt
• Geometric vision and calibration code which uses non-linear optimization now works correectly
• Started converting internal micro benchmarks to use Caliper

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Date  : 2012/01/06

Version : Alpha 0.4

• Changed behavior of ConvertBufferedImage so that it won't automatically swap bands in MultiSpecitral image
  • orderBandsIntoRGB() has been provided to do that manually if needed
• All automatic convert to/from BGR and been removed from ConvertRaster
• Fixed SURF related issue
  • Image bounds check was being incorrectly performed for integral image orientation estimation algorithms (Thanks Oleg Chernoguz for pointing this out)
  • FactoryOrientationAlgs.sliding_ii() was creating an average orienation alg for I32 images
  • Some coordinates were integer instead of double
• Added comments to several factories and other classes
• Added ant script for examples and readme.txt explaining how to use it

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Date  : 2012/01/02

Version : Alpha 0.3

• Camera Calibration
  • Planar grid (Zhang 98)
  • Camera calibration matrix from homographies
  • Linear radial distortion
  • Decomposition of homography for calibration
  • Nonlinear optimization of all parameters
• Calibration Grid Detection
  • Detects corners up to "pixel accuracy", in reality its probably worse than that
  • Sub-pixel accuracy code exists but needs more work
• Added min and max values to ImageTestingOps.addGaussian()
• Tweaked factories related to wavelet denoising so that they take in an image type.
• Removed cyclical dependency between modules by creating a visualize modules
• Added to BinaryImageOps
  • label to clusters
  • clusters to binary
• Renamed ImageBase to ImageSingleBand
• Created a new ImageBase
• Flushed out MultSpectral image type more and extended ImageBase
  • Created functions to convert to and from BufferedImage
• Changed behavior of several functions in GeneralizedImageOps to include MultiSpectral images
  • refactor createImage -> createSingleBand
• Updated ant scripts
  • Common template is now used for the different modules
  • Fixed unit test and make it work across the whole project
• Added crop to ImageDistort
  • If cropping is used the only part of the destimation image is processed
• Created calibration package to hold calibration related code
• Moved jars not part of the primary build into boofcv/lib/testing
• Started converting runtime benchmark code over to Caliper
  • http://code.google.com/p/caliper/

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Date  : 2011/12/01

Version : Alpha 0.2

• Added integer polynomial interpolation
  • Cleaned up polynomial interpolation code
• Fixed bug in PixelMath.bound() dealing with unsigned images
• Converting to a BufferedImage now marks it as modified
• Added min and max pixel values to ImageTypeInfo
• Added ComplexMath
• Added PolynomialSolver
• Added process(image) to PointSequentialTracker and renamed it to ImagePointTracker
• Added the following 3D vision code:
  • Linear 8-point essential/fundamental matrix
  • Linear 7-point essential/fundamental matrix
  • Linear 4-point homography
  • Extract camera motion from essential
  • Extract camera and plane normal from homography
  • Triangulate: Linear pixel depth
  • Projective N Point (PNP): Linear N >= 6
• Added non-linear optimizer based upon Levenberg-Marquardt
• Added pixel region based descriptors
  • Raw pixel values
  • Normalized Cross Correlation (NCC)
• Added pixel region based trackers
• Added Sum of Absolute Difference (SAD) score for feature association with a few different descriptor types.

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Date  : 2011/11/01

Version : Alpha 0.1

• Initial public release