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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 : 2014/6/19
| | * Renamed EquirectangularTo* to *ToEquirectangular |
| Version : Alpha 0.17
| | ** Those classes convert pixels in * coordinates into their location in the equirectangular image |
| | | ** They are used to generate a * image from equirectangular |
| * Improved/Fixed serialization | | * Float 32bit auto coding switched over to using auto64fto32f library |
| ** Several classes were missing no argument constructors
| | * TypeInterpolate is now InterpolationType for consistency |
| * Added ImageMiscOps.flipHorizontal()
| | * Examples |
| * Added WeightSample2D_F32 for computing the weight of a sample in an abstract manor
| | ** InterpolatePixel added |
| ** Reduced MeanShiftPeak from 3 classes into one
| | ** Image blur added |
| * Edge Non-Maximum suppression's documentation now clearly states that it suppresses only if adjacent pixel is
| | ** Non-Maximum Suppression added |
| less than. This is not true non-maximum suppression since it allows equal values but seems to produce
| | * Demonstrations |
| better results
| | ** Improved DemonstrationInterpolateScaleApp (renamed also) |
| ** Improved unit tests to explicitly test for this behavior
| | ** Added DetectBlackEllipseApp |
| * Canny edge detector would fail if threshold was zero and the image had no texture
| | * Gradle |
| ** HysteresisEdge* code was using a value of 0 to mark traversed regions. It now uses -1 and sanity checks | | ** Will fail on dependency version conflict now |
| the lower threshold.
| | ** Will fail when building release with SNAPSHOT dependencies |
| ** Thanks Lucaro for finding this bug
| | ** Resolved xstream version conflict |
| * Added GImageMultiBand for generalized access to multi-band image data
| | * Updated DeepBoof |
| * Added support for MultiSpectral images to:
| | ** This is to get around an issue with a java wget library where it would hang instead of giving up |
| ** GBlurImageOps and BlurImageOps
| | ** New code is also much more informative and prints out size info and download status\ |
| * Image Segmentation / Superpixels
| | * Visualization |
| ** Watershed
| | ** Removed a bad +PI/2 from ellipse rendering. |
| ** Mean-shift
| | * SnapToEllipseEdge * Fixed bug where it was only performing one iteration no matter what |
| ** Felzenszwalb-Huttenlocher 2004
| | * Circle Asymmetric Grid Target |
| ** SLIC Superpixels
| | ** Fixed issue which was causing clusters not to form by not limiting number of neighbors within X distance |
| * Dense Optical Flow
| | ** When clustering ellipses orientation and major/minor axis size is now taken in account. |
| ** KLT Based
| | ** Significant net improvement in regression tests, only drop in performance in blurred images |
| ** Square Region Based
| |
| ** Horn Schunck
| |
| ** Horn Schunck Pyramid
| |
| ** Brox Spacial Warping
| |
| * Fixed bugs in ConvertNV21
| |
| ** Was applying YV12 byte alignment to NV21 images. Depending on image size, this could cause a crash.
| |
| * Fixed bug in ImplConvertToBitmap.multiToArray_F32()
| |
| ** Didn't handle case where the input image has 3 bands and not 4
| |
| * ImageBase now provides a method for getting ImageType information
| |
| * Threshold in the interface Associate is now <= instead of <
| |
| * Android
| |
| ** Added classes which greatly simplify dealing with camera previews
| |
| ** Added new visualizations intended for use with segmented images
| |
| ** Simplified example code | |
| * Added XYZ and LAB color spaces
| |
| * GImageMiscOps.fillUniform() max is inclusive for both integer and float and this is enforced
| |
| * BinaryImageOps
| |
| ** Erode and dilate can now be applied multiple times with a single function call
| |
| * StitchingFromMotion2D can now resize and translate the stitch image
| |
| ** Thanks Julien Seinturier for the suggestion
| |
| * Convolution
| |
| ** 1D convolution now supports kernels which are not symmetric
| |
| * Image gradient from a difference of two neighbors added
| |
| * Square grid calibration grid detector has been improved.
| |
| ** No longer permutes through all combinations. Selects each valid square and assumes its the first instead
| |
| ** Graph connection rule has been improved too to reduce false connections
| |
| * Moved serializeXML from BoofMiscOps to UtilIO
| |
| ** Removing an IO function which shouldn't be in image processing
| |
| * FactoryDerivative
| |
| ** If derivative type is null it will use the default
| |
| * Added ImageType to interpolate interface
| |
| * Added ImageType to ImageSegmentation interface
| |
| * Processing (http://processing.org) integration
| |
| ** Lots of examples
| |
| ** Simplified interface for working with BoofCV
| |
| * XStream now works without that ugly hack
| |
| ** Thanks to Jörg Schaible of XStream for fixing the issue and all the help
| |
| * Webcam Capture Support
| |
| ** Easy to use library for streaming webcams
| |
| ** Wrote several example showing how Webcam Capture can be used with BoofCV
| |
| * Structure From Motion (SFM) example
| |
| | |
| ---------------------------------------------
| |
| Date : 2013/12/25
| |
| Version : Alpha 0.16
| |
| | |
| * Simplified DescribeRegionPoint
| |
| ** describe now returns true or false
| |
| ** removed isInBounds()
| |
| ** removed getDescriptionLength() since it is contained in the description itself
| |
| ** added getImageType()
| |
| * Feature detection and describing related classes now extend ImageBase to allow support of color image processing
| |
| * SURF
| |
| ** Laplacian sign calculation doesn't declare new memory for every single feature any more
| |
| ** Added a color SURF descriptor
| |
| * Fixed SIFT bug which produced a feature with NaN in its descriptor
| |
| ** The extractor border was not being taken in account when examining features. The net result was that the localization interpolation would messed up since the center would not be a maximum, causing really bad stuff.
| |
| ** Unit tests updated so that it they can detect it.
| |
| ** Thanks Lefteris for detecting this bug.
| |
| * SURF detector (Fast-Hessian)
| |
| ** Was affected in a similar fashion to the SIFT bug. The fix doesn't seem to change its stability at all.
| |
| * NCC error now more "correct" and divides by the number of elements
| |
| * Integral image operations now support more image types. S64 and F64
| |
| * KltTracker.setDescription() can now fail due to lack of texture
| |
| * Created TrackObjectQuad for tracking user select objects inside an image
| |
| ** Added TLD tracker
| |
| ** Added Circulant tracker
| |
| ** Added Sparse Flow Object Tracker
| |
| ** Added various mean-shift trackers
| |
| * Created recognition package
| |
| ** No other good place to put object trackers
| |
| * UtilImageIO
| |
| ** Can read PPM from InputStream
| |
| ** Can read images from URL
| |
| ** Can read/write PGM files
| |
| ** Can handle comments in PPM + PGM files
| |
| * Moved FastQueue and GrowQueue into DDogleg project so that other projects can use those data structures
| |
| * Modified ConvertBufferedImage functions with orderRgb to make it easier to maintain RGB ordering.
| |
| ** No need to explicitly call orderBandsIntoRGB() any more
| |
| * Change behavior of ConvertRaster so that it does not modify the order of color bands at all
| |
| ** Improved unit tests
| |
| * Added Fast Fourier Transform
| |
| ** Code originally from General Purpose FFT by Takuya Ooura, actual Java code copied from JTransforms with minor modifications.
| |
| * PixelMath
| |
| ** pixel-wise image-to-image multiplication
| |
| ** pixel-wise image-to-image division
| |
| ** pixel-wise log(1+x)
| |
| * ImageMiscOps
| |
| ** added copy() for rectangular sub-images
| |
| ** limited support for Interleaved images
| |
| * ThresholdImageOps
| |
| ** Added adaptiveSquare
| |
| ** Added adaptiveGaussian
| |
| * Convolution and ImageBlurOps
| |
| ** Improved accuracy of operations on integer images. Rounded instead of floored.
| |
| * Removed GeoModelRefine and replaced with ModelFitter
| |
| * Image Types
| |
| ** Improved and renamed interleaved image types
| |
| ** Added full support to all primitive data structures in interleaved images
| |
| ** Added ImageBase.subimage class variable
| |
| ** Added InterleavedImageOps
| |
| ** Added ImageMultiBand as a base class for multi-band images.
| |
| * Generalized interpolation so that support can be provided for single-band and multi-band images.
| |
| ** InterpolatePixelS for single-band
| |
| ** InterpolatePixelMB for multi-band
| |
| * Fixed sub-image support for ConvertBufferedImage.extract*
| |
| ** Thanks pcmoen
| |
| * Calibration target detection
| |
| ** Locally adaptive thresholding is now used for square and chessboard target types. Less sensitive to lighting conditions
| |
| ** Chessboard target detector works much better on small targets. Uses QuadBlob corners to estimate initial calibration point position then uses mean-shift for refinement
| |
| ** Chessboard now orders calibration points using QuadBlobs. Allowing orientation ambiguity to be correctly resolved when the target is not symmetric.
| |
| * ImplConvertBitmap incorrectly converted floating point images
| |
| ** Was doing an integer divide instead of a floating point divide
| |
| ** Thanks Vagoster for reporting the bug
| |
| * KLT can now track features which partially extend outside the image
| |
| * Image Interpolation
| |
| ** Almost all interpolation routines incorrectly treated pixels 1 outside of the image as inside. Unit tests have been added and other classes modified for the change in behavior.
| |
| * Fixed FactoryDistort.scale(). Off by one error when specifying scale factor
| |
| * SearchLocalPeak high level interface
| |
| ** For algorithms which perform a local search for a peak
| |
| ** Added two mean-shift variants
| |
| * New examples
| |
| ** Estimating pose from calibration grids
| |
| ** Two examples for object tracking
| |
| ** How to remove perspective distortion
| |
| ** Added video stabilization example
| |
| ** Reorganized package structure
| |
| * VisOdomDualTrackPnP
| |
| ** It is now possible for it to produce a fatal error when all its tracks are lost
| |
| ** Computes a descriptor of the feature each time as needed. Doesn't extract it from the track itself. Made the code base more complex. Maybe old version has a slight runtime speed advantage
| |
| * Fixed overflow issue in HarrisCorner_S16 weighted and unweighted
| |
| * Improved Maven support by breaking it up into multiple modules
| |
| * Fixed bug in UtilWavelet for integer images. X and Y got reversed in for loop
| |
| | |
| ---------------------------------------------
| |
| Date : 2013/06/21
| |
| Version : Alpha 0.15
| |
| | |
| * Improved automatic thresholding for calibration grids
| |
| * Fixed bug in Zhang99 calibration where skew was not being copied
| |
| * Fixed stereo calibration bug where if a target was not detected in right image it wouldn't be removed from the left
| |
| * Chessboard calibration
| |
| ** Support for targets which are not symmetric. Requested by Karim Hammoudi.
| |
| ** Much more tolerant of target which are visually small | |
| ** Handles cluttered backgrounds better
| |
| * Added support for OpenKinect in integration
| |
| ** Added related example code and applications demonstrating how to process its data
| |
| * Can read/write PPM images | |
| * Added DepthVisualOdometry for computing visual odometry from a Kinect
| |
| ** Added several related classes and interfaces too | |
| * Added MonocularPlaneVisualOdometry for computing 2D motion from a camera when traveling over a plane
| |
| ** Two algorithms implement this interface
| |
| * Generalized VisualOdometry interface to allow for arbitrary transforms
| |
| * Cleaned up VisualOdometry and StereoVisualOdometry interfaces
| |
| * Automatic rescaling of images for visual odometry
| |
| ** StereoVisualOdometryScaleInput
| |
| ** MonocularPlaneVisualOdometryScaleInput
| |
| * Added VisualDepthParameters to specify calibration of RGB-D cameras
| |
| * Added MonoPlaneParameters to specify calibration of single camera with a known ground plane
| |
| * Added DistanceHomographyPixelSq so that the fit error for normalized homography can be computed in image pixels.
| |
| * Added MultiViewOps.decomposeHomography(). | |
| * Added more support for convert to/from 16bit BufferedImages
| |
| * Added DoNothingPixelTransform_F32 for those times when you don't want to do anything
| |
| * Added PairLineNorm for sets of line correspondences between two lines
| |
| * Added algorithms for computing induced homographies from planes
| |
| ** Three points
| |
| ** Line and a point
| |
| ** Two lines
| |
| * Added NearestNeighborPixel_U16
| |
| * Added index setters and getters to GImageSingleBand
| |
| * CreateSyntheticOverheadView for converting an image into an overhead view when the scene is planar
| |
| * Added numBands to ImageDataType
| |
| * Fixed type-o in triangulation JavaDoc. Thanks tverbele
| |
| * Fixed bug in SIFT where a change in non-maximum behavior caused features to be detected too close to image border.
| |
| ** Thanks lefman for pointing it out
| |
| * Fixed ConvertBufferedImage.orderBandsIntoRGB() for ABGR images. Thanks André Ambrósio Boechat
| |
| * Maven build working again. Thanks JensKapitza for the help.
| |
| * Moved boofcv/applet into boofcv/integration/applet
| |
| | |
| ---------------------------------------------
| |
| Date : 2013/04/15
| |
| Version : Alpha 0.14
| |
| | |
| * Added histogram to ImageStatistics
| |
| * Calibration target's binary threshold is selected using image histogram to make it more tolerant to shadows
| |
| * Calibration grid size does not refer to number of black squares any more. Instead to number of square total. | |
| * Added image enhancement operations | |
| ** Global histogram
| |
| ** Local histogram
| |
| ** Sharpen 4 and 8
| |
| ** Demonstration to example directory
| |
| * Interface for V4L4J to provide webcam support
| |
| * ImageMiscOps
| |
| ** added fillBorder()
| |
| * BinaryImageOps
| |
| ** Changed API and algorithms used to label blobs and find their contour
| |
| ** New algorithm is about 3x faster in all situations.
| |
| * Canny edge has been improved | |
| ** Can be configured to create a binary image output or a set of contours
| |
| ** Conour pixels are now ordered and returned as a graph
| |
| * Fixed bug in FactoryImageBorder.value()
| |
| * Color Models (Added)
| |
| ** Added HSV, YUV
| |
| ** Added new example demonstrating simple color based segmentation | |
| * XML Serialization
| |
| ** Switched over to using XStream since XMLEncoder is broken in Java 1.7.
| |
| ** XStream also produces easier to read XML
| |
| * Added ConfigFast. Configuration class for FAST feature detector
| |
| * Image Pyramids and Scale*Space | |
| ** Added additional functions to ImagePyramid interface that provide information on how the image is sample and the amount of blur in it
| |
| ** There is no separate class for updating image pyramids any more. The image pyramid takes in the input image
| |
| ** Scale*Space pyramids have been moved into the pyramid package instead of having its own
| |
| ** Bug Fix: FeatureLaplacePyramid now looks for local maximum or minimum in searching across scales
| |
| ** Removed GaussianScaleSpace class since it can now be represented using ImageFloatPyramid | |
| * Added ExampleStereoDisparity3D and tweaked the first one | |
| * Shape Fitting (Added) | |
| ** Fit polygon | |
| ** Fit ellipse
| |
| ** Usage examples
| |
| * BRIEF description computation is 30% faster
| |
| * Made it easier to create mosaics from colored images and updated examples
| |
| * Generalized several classes so that images other than single band can be used
| |
| ** VideoInterface
| |
| ** SimpleImageSequence
| |
| * Added average down sampling and a related discrete image pyramid
| |
| * Android: YUV to RGB now works
| |
| * ExampleImageStitching has rendering code pushed into it
| |
| | |
| ---------------------------------------------
| |
| 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
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| ** 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
| |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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. | |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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
| |
| | |
| ---------------------------------------------
| |
| 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/
| |
| | |
| ---------------------------------------------
| |
| 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.
| |
| | |
| ---------------------------------------------
| |
| Date : 2011/11/01
| |
| | |
| Version : Alpha 0.1
| |
| | |
| * Initial public release
| |
