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| Change Log
| | Date : 2016/12/07 |
| | Version : 0.26 |
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| Date Format: year/month/day
| | * Fixed a long standing unit test issue where convolve unit test would some times on some systems erratically fail |
| | | ** Appears that sometimes the random numbers caused a buffer overflow for U8 images |
| ---------------------------------------------
| | ** Now why it didn't have the exact same numbers every time when it has a fixed seed is disturbing... |
| Date : 2012/11/6
| | * Renamed EquirectangularTo* to *ToEquirectangular |
| Version : Alpha 0.11
| | ** Those classes convert pixels in * coordinates into their location in the equirectangular image |
| | | ** They are used to generate a * image from equirectangular |
| * Association Score | | * Float 32bit auto coding switched over to using auto64fto32f library |
| ** Normalized Cross Correlation (NCC) has been fixed (yet again) in ScoreAssociateNccFeature where the abs() was incorretly being taken. | | * TypeInterpolate is now InterpolationType for consistency |
| ** Fixed bug in NccFeature.setTo() | | * Examples |
| * FactoryAssociation
| | ** InterpolatePixel added |
| ** Added NCC to defaultScore()
| | ** Image blur added |
| * Template Matching
| | ** Non-Maximum Suppression added |
| ** Added NCC template matching algorithm
| | * Demonstrations |
| ** TemplateScoreType: ERROR_SQUARED renamed to SUM_DIFF_SQ
| | ** Improved DemonstrationInterpolateScaleApp (renamed also) |
| * ModelSet
| | ** Added DetectBlackEllipseApp |
| ** Original index of inlier set can be requested now
| | * Gradle |
| ** Removed the ability to generate multiple hypotheses. Was not needed after all.
| | ** Will fail on dependency version conflict now |
| ** RANSAC score has been deleted and RANSAC simplified
| | ** Will fail when building release with SNAPSHOT dependencies |
| * RectifyImageOps
| | ** Resolved xstream version conflict |
| ** Cleaned up function names and improved documentation
| | * Updated DeepBoof |
| * LensDistortionOps
| | ** This is to get around an issue with a java wget library where it would hang instead of giving up |
| ** Added transformRadialToPixel_F64()
| | ** New code is also much more informative and prints out size info and download status\ |
| * Reorganized functions in geometric vision package
| | * Visualization |
| ** Created MultiViewOps and PerspetiveOps
| | ** Removed a bad +PI/2 from ellipse rendering. |
| ** Refactored/deleted other related Util classes
| | * SnapToEllipseEdge * Fixed bug where it was only performing one iteration no matter what |
| ** Enums are now used to select which algorithm is returned in the Factory in many cases
| | * Circle Asymmetric Grid Target |
| ** New interfaces for each problem and improved JavaDoc
| | ** Fixed issue which was causing clusters not to form by not limiting number of neighbors within X distance |
| * Moved AssociatedPair and PointPositionPair to boofcv.struct.geo package
| | ** When clustering ellipses orientation and major/minor axis size is now taken in account. |
| * Trifocal Tensor | | ** Significant net improvement in regression tests, only drop in performance in blurred images |
| ** 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
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| | |
| * Association Score
| |
| ** Pushed implementations of ScoreAssociation into abst package
| |
| ** Put most association distance algorithms into DescriptorDistance
| |
| ** Added hamming lookup table
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| ** 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
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| ** 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
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| ** Added example code to demonstrate its use
| |
| * Added support for alpha channel in ConvertBufferedImage
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| * 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
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| | |
| * Renamed factories
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| ** FactoryBlobDetector -> FactoryDetectPoint
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| ** FactoryCornerDetector -> FactoryDetectPoint
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| * 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.
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| * Added new Pixel to Normalized transform
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| * Created interface for Stereo visual odometry
| |
| * Fixed bug in unsafe_set inside of ImageInt8
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| * 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
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| ** changed code to reference those functions
| |
| * Stereo Disparity Image
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| ** Dense and Sparse algorithms
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| ** Rectangular region winner take all (WTA)
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| *** Validation: right to left, max error, texture
| |
| *** Precision: Pixel and Subpixel
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| ** Algorithms:
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| *** Basic rectangular region
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| *** Five region adaptive: Hirschmuller, et. al. "Real-Time Correlation-Based Stereo Vision with Reduced Border Errors," 2002
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| * IntrinsicParameters
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| ** Added flipY to parameter list since it is vital information for many calculations.
| |
| * RectifyImageOps
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| ** 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
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| * FactoryCornerDetector
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| ** Added flag for weighted KLT and Harris
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| * Added weighted corners to list of features in some evaluation apps | |
| * Examples:
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| ** ExampleCalibrateMonocularPoints
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| ** ExampleDetectCalibrationPoints
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| ** ExampleStereoDisparity
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| * ImageTestingOps
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| ** Flip image vertical
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| * 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.
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| * 3D Vision Algorithms
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| ** Estimate translation given rotation and two observations
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| ** Refine pose estimate given set of 3D points and observations
| |
| ** Interface for n-view triangulation
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| ** Bundle adjustment for calibrated cameras
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| *** Analytic Jacobian
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| *** A bit slow right now
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| * Changed behavior of GeneralFeatureDetector
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| ** 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
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| * UtilEpipolar
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| ** Added canonicalCamera() and decomposeCameraMatrix()
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| * Created the following Util and Ops classes
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| ** UtilIntrinsic
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| ** LensDistortionOps
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| ** RectifyImageOps
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| * Stereo Rectification
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| ** Calibrated with known baseline
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| ** Uncalibrated, from using a fundamental matrix.
| |
| ** Adjust rectification to maximize usefull viewing area | |
| * New Examples
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| ** Estimate fundamental matrix
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| ** Rectify calibrated
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| ** Rectify fundamental matrix
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| ** 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
| |
| | |
| ---------------------------------------------
| |
| Date : 2012/03/01
| |
| | |
| Version : Alpha 0.6
| |
| | |
| * Added convolution related code for ImageSInt32
| |
| * Added weighted KLT and Harris corner detectors
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| * Refactored factory names and other classes to make them easier to find and more consistent
| |
| * Planar calibration grid detectors
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| ** Chess board pattern
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| ** Square grid pattern
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| * Generic code for detecting squares in binary images
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| ** Inside of calibration module
| |
| * Application for calibration from planar calibration targets
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| ** GUI and commandline
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| * ImageDistort
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| ** Fixed bug where border.setImage() was not being called | |
| * ImageBorder
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| ** Added generalized get(x,y)
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| * Refactored FactoryImageBorder into two factories
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| * 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
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| * Added PointTransform_F32
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| * Added both forward and reverse radial distortion PixelTransform_F32 implementations
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| * ModelMatcher classes can now create multiple model hypotheses from a single set of points.
| |
| * Changed ImagePointTracker to use PointTrack instead of AssociatedPair
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| ** Created KeyFramePointTracker to track features and create AssociatedPairs | |
| * Added FactoryEpipolar
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| * Added FactoryTriangulate
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| * Added non-linear refinement for:
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| ** Fundamental/Essential matrix
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| ** Homography matrix
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| ** Triangulation
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| * Added 2-view and N-View triangulation algorithms
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| ** DLT
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| ** Closest point from two lines
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| * Added EPnP from Lepetit 2009 paper
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| ** Validation against author's code is pending
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| * Added color processing to several Apps
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| ** EvaluateInterpolateEnlargeApp
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| ** ShowImageBlurApp
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| * Added SimpleNumberSequenceReader for reading small sequences of numbers
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| * Added lens distortion app
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| * Found sudbtle bug in Harris corner detector.
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| ** Surprisingly doesn't seem to change output. | |
| | |
| ---------------------------------------------
| |
| Date : 2012/02/01
| |
| | |
| Version : Alpha 0.5
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| | |
| * Improved SURF performance
| |
| ** Fixed various bugs and changed algorithm to improve performance
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| *** Both speed and stibility have been improved
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| ** Now is the best performing SURF implementation in the benchmark
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| * ImplOrientationSlidingWindowIntegral has been replaced with a faster and more accurate algorithm
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| * Improved integral image support
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| * Improved sparse gradient support
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| * Refactored sparse image operator code
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| ** Added SparseImageSample interface
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| * Added/Improved unconstrained non-linear optimization code
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| ** Quasi-Newton line search
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| ** Levenberg-Marquardt
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| * Geometric vision and calibration code which uses non-linear optimization now works correectly
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| * Started converting internal micro benchmarks to use Caliper
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| | |
| ---------------------------------------------
| |
| Date : 2012/01/06
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| | |
| Version : Alpha 0.4
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| | |
| * Changed behavior of ConvertBufferedImage so that it won't automatically swap bands in MultiSpecitral image
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| ** orderBandsIntoRGB() has been provided to do that manually if needed
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| * All automatic convert to/from BGR and been removed from ConvertRaster
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| * Fixed SURF related issue
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| ** 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
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| ** Some coordinates were integer instead of double
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| * Added comments to several factories and other classes
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| * Added ant script for examples and readme.txt explaining how to use it
| |
| | |
| ---------------------------------------------
| |
| Date : 2012/01/02
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| | |
| Version : Alpha 0.3
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| | |
| * Camera Calibration
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| ** Planar grid (Zhang 98)
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| ** Camera calibration matrix from homographies
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| ** Linear radial distortion
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| ** Decomposition of homography for calibration
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| ** Nonlinear optimization of all parameters
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| * Calibration Grid Detection
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| ** Detects corners up to "pixel accuracy", in reality its probably worse than that
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| ** Sub-pixel accuracy code exists but needs more work
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| * Added min and max values to ImageTestingOps.addGaussian()
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| * Tweaked factories related to wavelet denoising so that they take in an image type.
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| * Removed cyclical dependency between modules by creating a visualize modules
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| * Added to BinaryImageOps
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| ** label to clusters
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| ** clusters to binary
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| * Renamed ImageBase to ImageSingleBand
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| * Created a new ImageBase
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| * Flushed out MultSpectral image type more and extended ImageBase
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| ** Created functions to convert to and from BufferedImage
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| * Changed behavior of several functions in GeneralizedImageOps to include MultiSpectral images
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| ** refactor createImage -> createSingleBand
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| * Updated ant scripts
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| ** Common template is now used for the different modules
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| ** Fixed unit test and make it work across the whole project
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| * Added crop to ImageDistort
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| ** If cropping is used the only part of the destimation image is processed
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| * Created calibration package to hold calibration related code
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| * Moved jars not part of the primary build into boofcv/lib/testing
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| * Started converting runtime benchmark code over to Caliper
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| ** http://code.google.com/p/caliper/
| |
| | |
| ---------------------------------------------
| |
| Date : 2011/12/01
| |
| | |
| Version : Alpha 0.2
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| | |
| * Added integer polynomial interpolation
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| ** Cleaned up polynomial interpolation code
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| * Fixed bug in PixelMath.bound() dealing with unsigned images
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| * Converting to a BufferedImage now marks it as modified
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| * Added min and max pixel values to ImageTypeInfo
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| * Added ComplexMath
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| * Added PolynomialSolver
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| * Added process(image) to PointSequentialTracker and renamed it to ImagePointTracker
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| * Added the following 3D vision code:
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| ** Linear 8-point essential/fundamental matrix
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| ** Linear 7-point essential/fundamental matrix
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| ** Linear 4-point homography
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| ** Extract camera motion from essential
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| ** Extract camera and plane normal from homography
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| ** Triangulate: Linear pixel depth
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| ** Projective N Point (PNP): Linear N >= 6
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| * Added non-linear optimizer based upon Levenberg-Marquardt
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| * Added pixel region based descriptors
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| ** Raw pixel values
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| ** Normalized Cross Correlation (NCC)
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| * Added pixel region based trackers
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| * Added Sum of Absolute Difference (SAD) score for feature association with a few different descriptor types.
| |
| | |
| ---------------------------------------------
| |
| Date : 2011/11/01
| |
| | |
| Version : Alpha 0.1
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| | |
| * Initial public release
| |
