BoofCV Change Log

Change Log

Date Format: year/month/day

---

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