BoofCV Change Log

Change Log

Date Format: year/month/day

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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