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= BoofCV =
[[File:Boofcv_logo_circles_frontpage.jpg]]
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BoofCV is a Java library for real-time computer vision and robotics applications. Written from scratch for ease of use and high performance, it provides both basic and advanced features needed for creating a modern computer vision system.  Functionality include highly optimized low level image processing routines (e.g. convolution, interpolation, gradient) to high level functionality such as image stabilization.
BoofCV is an open source library written from scratch for real-time computer vision. Its functionality covers a range of subjects, low-level image processing, camera calibration, feature detection/tracking, structure-from-motion, fiducial detection, and recognition. BoofCV has been released under an Apache  2.0 license for both academic and commercial use.


It is divided up into four package, 1) image processing, 2) features, 3) geometric vision, and 4) input output.  Image processing contains core functionality which are most commonly used and typically operate directly on pixels.  Features contains feature (e.g. points, lines, and regions) extraction algorithms for use in higher level operations.  Geometric vision contains routines for processing extracted image features using 2D and 3D geometry. IO stands for input/output and contains common routines for reading in and displaying compute images.
BoofCV is organized into several packages: ''image processing'', ''features'', ''geometric vision'', ''calibration'', ''recognition'',''visualize'', and ''IO''''Image processing'' contains commonly used image processing functions which operate directly on pixels.  ''Features'' contains feature extraction algorithms for use in higher level operations.  ''Calibration'' has routines for determining the camera's intrinsic and extrinsic parameters.  ''Recognition'' is for recognition and tracking complex visual objects.  ''Geometric vision'' is composed of routines for processing extracted image features using 2D and 3D geometry. ''Visualize'' has routines for rendering and displaying extracted features.  ''IO'' has input and output routines for different data structures.
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<center>'''BoofCV is still in an early development phase and is undergoing frequent changes.'''</center>
{|
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| {{#ev:youtube|https://youtu.be/wgPzlokxbXw|300|center}}
| {{#ev:youtube|https://youtu.be/O_yAdsT8d84|300|center}}
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! New calibration tools in v0.39
! Three View Self Calibration
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{|
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| <SPAN STYLE="font-size: 12pt">[https://medium.com/p/35b431fcccf1 2022-Jan: Article on scanning Micro QR Codes]</SPAN>
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| <SPAN STYLE="font-size: 12pt">[[Tutorial_Camera_Calibration|2021-Oct: Camera Calibration Tutorial has been re-written.]]</SPAN>
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| <SPAN STYLE="font-size: 12pt">[https://youtu.be/RCL5tSt189M 2021-Mar: Stereo Cloud from Mars Perseverance Rover]</SPAN>
|-
| <SPAN STYLE="font-size: 12pt">[https://youtu.be/ulpu03HTmwY 2020-Dec: 3D Reconstruction on Android]</SPAN>
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| <SPAN STYLE="font-size: 12pt">[https://youtu.be/8pn9Ebw90uk 2020-June: BoofCV Summary for 0.34-0.36]</SPAN>
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! align="center" | Current Release: ''v0.40.1''
| Introduction
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! align="center" | Date: ''January 24, 2022''
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| align="center" | [https://github.com/lessthanoptimal/BoofCV/blob/v0.40.1/change.txt Change Log]
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| align="center" | [https://youtu.be/BbTPQ9mIoQU Video Summary v0.38]
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| [[File:Boofcv_bug_propaganda_poster_small.jpg|125px|link=https://github.com/lessthanoptimal/BoofCV/issues]]
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| Tutorial
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! align="center" |  [[File:Ninox360_icon_logo_moto.png|400px|link=https://www.ninox360.com]]
| Source Code
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| align="center" | A start up from the creators of BoofCV.
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| JavaDoc
| [[File:Main-page-help-icon.png|100px|link=[[Manual]]]]
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| [[Manual]]
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| [[FAQ | FAQ]]
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| [http://www.boofcv.org/javadoc/ JavaDoc]
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| [https://github.com/lessthanoptimal/BoofCV/issues Report Bug]
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| [https://groups.google.com/group/boofcv Message Board]
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| [[Papers and Reports| Papers/Reports]]
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{| class="wikitable" style="width:200px; color:black; background-color:white; font-size:140%; text-align:center;"
| [[File:Main-page-binary-icon.png|100px|link=[https://github.com/lessthanoptimal/BoofCV Source Code]]]
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| [[Download|Download]]
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| [https://www.youtube.com/user/BoofCV/videos Videos]
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| [[Applications]]
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| [[Bounties| Bounties ]]
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| [[Contributing|Contribute]]
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| [https://github.com/lessthanoptimal/BoofCPP BoofCPP]
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{| class="wikitable" style="width:200px; color:black; background-color:white; font-size:140%; text-align:center;"
| [[File:Main-page-graph-icon.png|100px|link=[[Performance:BoofCV]]]]
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| [[Performance:BoofCV|Performance]]
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| [[BoofCV Roadmap | Road Map]]
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| [[Validation:Algorithms | Validation]]
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| [[Projects_Using_BoofCV | Users ]]
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| [[Acknowledgements|Acknowledgements]]
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<SPAN STYLE="font-size: 14pt;text-align:center">Prebuild Stand Alone Applications</SPAN>
{| class="wikitable" style="width:720pt;"
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| [[Applications#Examples_and_Demonstrations|Examples / Demonstrations]] || Example and demonstration applications
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| [[Applications#Create QR Code|QR Code Generator]] || Create and print QR Codes
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| [[Applications#Create_Square_Binary|Square Fiducials]] || Binary/Image Square Fiducial Generator
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| [[Applications#Create_Calibration_Fiducials|Calibration Targets]] || Calibration Target Generator
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| [[Applications#Camera_Calibration|Calibration]] || Camera Calibration Application
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| [[Applications#Batch_Undistort|Lens Undistortion]] ||  Batch Removal of Lens Distortion
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| [[Applications#Batch_Downsize|Image Downsize]] ||  Batch Image Down Sampling with minimal aliasing
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== Capability Summary ==
== Capability Summary ==
|-
|-
! style="background:#ffdead;" | Image Processing  
! style="background:#ffdead;" | Image Processing  
! style="background:#ffdead;" | Feature  
! style="background:#ffdead;" | Feature  
! style="background:#ffdead;" | Recognition
! style="background:#ffdead;" | Geometric  
! style="background:#ffdead;" | Geometric  
! style="background:#ffdead;" | IO
! style="background:#ffdead;" | Integration
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|-
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{|
{|
|-  
|-  
| Image Convolution
| Image Convolution || [[Example_Convolution|Example]]
|-
| Image Derivatives || [[Example_Image_Derivative|Example]]
|-
| Thresholding || [[Example_Thresholding|Example]]
|-
| Binary Ops || [[Example_Binary_Image|Example]]
|-  
|-  
| Image Derivatives 
| Color Space || [[Example_Color_Space|Example]]
| [[Applet Gradient|Applet]]
|-
| Interpolation || [[Example_Interpolation|Example]]
|-
| Image Deformation || [[Example_Key_Point_Based_Deformation|Example]]
|-
| Image Blur || [[Example_Image_Blur|Example]]
|-
|-
| Interpolation
| Enhancement || [[Example_Image_Enhancement|Example]]
| [[Applet Interpolation|Applet]]
|-
|-
| Image Blur
| Noise Removal || [[Example_Wavelet_Noise_Removal|Example]]
| [[Applet Image Blur|Applet]]
|-
|-
| Image Denoising
| Fourier Transform || [[Example_Discrete_Fourier_Transform|Example]]
| [[Applet Denoise|Applet]]
|-
|-
| Wavelet Decomposition
| Wavelet Decomposition ||  
| [[Applet Wavelet Transform|Applet]]
|-  
|-  
| Discrete Image Pyramid
| Discrete Image Pyramid || [[Example_Image_Pyramid|Example]]
| [[Applet Pyramid Discrete|Applet]]
|-
|-
| Float Image Pyramid
| Float Image Pyramid || [[Example_Image_Pyramid|Example]]
| [[Applet Pyramid Float|Applet]]
|-
|-
| Scale Space Image
| Scale Space Image ||  
| [[Applet Scale Space|Applet]]
|-
|-
| Steerable Kernels
| Equirectangular || [[Example_Equirectangular_To_Pinhole|Example]]
| [[Applet Kernel Gaussian Steerable|Applet]]
|-
|-
| Image Distort
| Fisheye Cameras || [[Example_Fisheye_To_Pinhole|Example]]
| [[Applet Distort|Applet]]
|
|}  
|}  
|
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{|
{|
|-
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| Corner Detection
| Black Polygons || [[Example_Detect_Black_Polygons|Example]]
| [[Applet Point Detected|Applet]]
|-
| Black Ellipses || [[Example_Detect_Black_Ellipses|Example]]
|-
| Interest Points || [[Example_Detect_Interest_Points|Example]]
|-
| Line Detection || [[Example_Detect_Lines|Example]]
|-
| Motion Detection || [[Example_Background_Moving_Camera|Example]]
|-
|-
| Line Detection
| Binary Contours || [[Example_Binary_Image|Example]]
| Future
|-
|-
| Interest Points
| Polygon Fitting || [[Example_Fit_Polygon|Example]]
| [[Applet Point Detected|Applet]]
|-
|-
| Scale Space Features
| Ellipse Fitting || [[Example_Fit_Ellipse|Example]]
| [[Applet Scale Space Point|Applet]]
|-
|-
| Edge Detection
| Template Matching || [[Example_Template_Matching|Example]]
| [[Applet Contour|Applet]]
|-  
|-  
| Region Descriptions
| Interest Points || [[Example_Detect_Describe_Interface|Example]]
| [[Applet Description Region|Applet]]
|-
| Dense Features || [[Example_Dense_Image_Features|Example]]
|-
|-
| Region Orientation
| Point Tracking || [[Example_Track_Point_Features|Example]]
| [[Applet Orientation Point|Applet]]
|- 
| Non-max Suppression || [[Example_Non_Maximum_Suppression|Example]]
|-
| Dense Optical Flow || [[Example_Dense_Optical_Flow|Example]]
|-
|-
| Feature Association
| Superpixels || [[Example_Superpixels|Example]]
| [[Applet Associate Points|Applet]]
|-
|-
| Feature Tracking
| Color Segmentation || [[Example_Color_Segmentation|Example]]
| [[Applet Feature Tracking|Applet]]
|}
|-
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| Non-max Suppression
{|
|-
| Scene Recognition || [[Example_Scene_Recognition|Example]]
|-  
| Color Image Lookup || [[Example_Color_Histogram_Lookup|Example]]
|-  
| KNN Classifier || [[Example_Scene_Classification|Example]]
|-  
|-  
| CNN Classifiers || [[Example_Image_Classification|Example]]
|-
| Object Tracking || [[Example_Tracker_Object|Example]]
|-
| Fiducials || [[Tutorial_Fiducials|Tutorial]]
|-
| QR Codes || [[Tutorial_QRCodes|Tutorial]]
|}
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{|
{|
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| SFM || [[Tutorial_Geometric_Vision|Tutorial]]
|-
| Camera Calibration || [[Tutorial_Camera_Calibration|Tutorial]]
|-
| Mono Calibration || [[Example_Calibrate_Planar_Mono|Example]]
|-  
|-  
| Camera Calibration
| Fisheye Calibration || [[Example_Calibrate_Planar_Fisheye|Example]]
| Future
|-
| Stereo Calibration || [[Example_Calibrate_Planar_Stereo|Example]]
|-
|-
| Stereo Vision
| Remove Distortion || [[Example_Remove_Lens_Distortion|Example]]
| Future
|-
|-
| Robust Fitting
| Equi to Pinhole || [[Example_Equirectangular_To_Pinhole|Example]]
|-
|-
| 2D/3D Motion Models
| Fisheye to Equi|| [[Example_Fisheye_To_Equirectangular|Example]]
|-
|-
| Bundle Adjustment
| Bundle Adjustment || [[Example Sparse Bundle Adjustment|Example]]
| Future
|-
|-
| Image Stabilization
| 3D Stereo Cloud || [[Example_Stereo_Disparity_3D|Example]]
| [[Applet Video Stabilization|Applet]]
|-
|-
| Image Stitching
| Monocular Stereo || [[Example_Stereo_Single_Camera|Example]]
|-
|-
| Visual Odometry
| Uncalibrated Stereo || [[Example_Three_View_Stereo_Uncalibrated|Example]]
| Future
|-
| Multi Baseline Stereo || [[Example_Multi_Baseline_Stereo|Example]]
|-
| Scene Reconstruction || [[Example_Multiview_Reconstruction_Dense|Example]]
|-
| Video Stabilization || [[Example_Video_Stabilization|Example]]
|-
| Video Mosaic || [[Example_Video_Mosaic|Example]]
|-
| Visual Odom: Stereo || [[Example_Stereo_Visual_Odometry|Example]]
|-
| Visual Odom: Mono Plane || [[Example_Visual_Odometry_Monocular_Plane|Example]]
|-
| Visual Odom: RGB-D || [[Example_Visual_Odometry_Depth|Example]]
|}
|}
|
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{|
{|
| Visualization Tools
| Visualization
|-
|-
| Video Codec Interfaces
| [[Android_support|Android]]
|-
|-
| Image IO Utility
| [[Tutorial Videos and Webcams|Video]]
|-
| [[Tutorial Kinect|Kinect]]
|-
| [[Tutorial Processing|Processing]]
|-
| [https://github.com/lessthanoptimal/PyBoof Python]
|}
|}
|}
|}
 
</center>
Future Plans
* Face Detection
* Face Learning
* People Tracking
* Moving Object Tracking
* Sparse Bundle Adjustment

Latest revision as of 12:39, 24 January 2022


Boofcv logo circles frontpage.jpg

BoofCV is an open source library written from scratch for real-time computer vision. Its functionality covers a range of subjects, low-level image processing, camera calibration, feature detection/tracking, structure-from-motion, fiducial detection, and recognition. BoofCV has been released under an Apache 2.0 license for both academic and commercial use.

BoofCV is organized into several packages: image processing, features, geometric vision, calibration, recognition,visualize, and IO. Image processing contains commonly used image processing functions which operate directly on pixels. Features contains feature extraction algorithms for use in higher level operations. Calibration has routines for determining the camera's intrinsic and extrinsic parameters. Recognition is for recognition and tracking complex visual objects. Geometric vision is composed of routines for processing extracted image features using 2D and 3D geometry. Visualize has routines for rendering and displaying extracted features. IO has input and output routines for different data structures.

New calibration tools in v0.39 Three View Self Calibration
2022-Jan: Article on scanning Micro QR Codes
2021-Oct: Camera Calibration Tutorial has been re-written.
2021-Mar: Stereo Cloud from Mars Perseverance Rover
2020-Dec: 3D Reconstruction on Android
2020-June: BoofCV Summary for 0.34-0.36
Loose-lips.jpg
Current Release: v0.40.1
Date: January 24, 2022
Change Log
Video Summary v0.38
Boofcv bug propaganda poster small.jpg
Ninox360 icon logo moto.png
A start up from the creators of BoofCV.
Main-page-help-icon.png
Manual
FAQ
JavaDoc
Report Bug
Message Board
Papers/Reports
Main-page-binary-icon.png
Download
Videos
Applications
Bounties
Contribute
BoofCPP
Main-page-graph-icon.png
Performance
Road Map
Validation
Users
Acknowledgements

Prebuild Stand Alone Applications

Examples / Demonstrations Example and demonstration applications
QR Code Generator Create and print QR Codes
Square Fiducials Binary/Image Square Fiducial Generator
Calibration Targets Calibration Target Generator
Calibration Camera Calibration Application
Lens Undistortion Batch Removal of Lens Distortion
Image Downsize Batch Image Down Sampling with minimal aliasing

Capability Summary

Image Processing Feature Recognition Geometric Integration
Image Convolution Example
Image Derivatives Example
Thresholding Example
Binary Ops Example
Color Space Example
Interpolation Example
Image Deformation Example
Image Blur Example
Enhancement Example
Noise Removal Example
Fourier Transform Example
Wavelet Decomposition
Discrete Image Pyramid Example
Float Image Pyramid Example
Scale Space Image
Equirectangular Example
Fisheye Cameras Example
Black Polygons Example
Black Ellipses Example
Interest Points Example
Line Detection Example
Motion Detection Example
Binary Contours Example
Polygon Fitting Example
Ellipse Fitting Example
Template Matching Example
Interest Points Example
Dense Features Example
Point Tracking Example
Non-max Suppression Example
Dense Optical Flow Example
Superpixels Example
Color Segmentation Example
Scene Recognition Example
Color Image Lookup Example
KNN Classifier Example
CNN Classifiers Example
Object Tracking Example
Fiducials Tutorial
QR Codes Tutorial
SFM Tutorial
Camera Calibration Tutorial
Mono Calibration Example
Fisheye Calibration Example
Stereo Calibration Example
Remove Distortion Example
Equi to Pinhole Example
Fisheye to Equi Example
Bundle Adjustment Example
3D Stereo Cloud Example
Monocular Stereo Example
Uncalibrated Stereo Example
Multi Baseline Stereo Example
Scene Reconstruction Example
Video Stabilization Example
Video Mosaic Example
Visual Odom: Stereo Example
Visual Odom: Mono Plane Example
Visual Odom: RGB-D Example
Visualization
Android
Video
Kinect
Processing
Python