BoofCV Change Log

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Revision as of 19:06, 13 May 2012 by Peter (talk | contribs) (Updated for v0.8)
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Change Log

Date Format: year/month/day

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

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