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Change Log
Date Format: year/month/day
Version Meaning: <compatible>.<feature>.<bug fix>
- First digit indicates if there has been a "major" refactoring or a ton of new features
- Second digit indicates if a new feature was added and/or if only a minor refactoring has been done
- Last digit always indicates a bug fix and other minor changes
---------------------
Date : 2024/May/14
Version : 1.1.4
- TupleDesc
* Added isEquals()
- Added PackedTupleArray interface
- Updated: AssociatedIndex, NccFeature
- Bug Fix: RecognitionVocabularyTreeNister2006
---------------------------------------------
Date : 2024/Feb/24
Version : 1.1.3
- CalibrateStereoPlanar provides valid results once again
- Android
* Switched to using andndroidx.annotation for @Nullable
---------------------------------------------
Date : 2023/Nov/05
Version : 1.1.2
- Android
* Better handling when the camera becomes inaccessible while it was reading it
- WorldToCameraToPixel
* Supports homogenous coordinates
- BundleAdjustmentMetricResidualFunction
* Fixed bug with homogeneous coordinates and rigid objects
---------------------------------------------
Date : 2023/Sep/24
Version : 1.1.1
- Updated dependencies so that a bug in EJML could be fixed
- The bug caused bundle adjustment to fail if all views were fixed.
---------------------------------------------
Date : 2023/Sep/9
Version : 1.1.0
- Calibration
* Support for multiple calibration targets
- Bundle Adjustment
* Can prune by reprojection error now
* Support for pruning observation of rigid objects
- Android: CameraProcessFragment
* A few small bug fixes and quality of life improvements
---------------------------------------------
Date : 2023/Aug/21
Version : 1.0.0
- Version
* Arbitrarily declared this as version 1.0.0
* This was done to make version info more informative.
* Originally it was decided that when face detection was added that would be 1.0 and that's still not on the menu
- Bundle Adjustment
* Added a way to specify the camera state when a frame was captured
* Added a new camera model that adjusts the focal length based on zoom factor
- Calibration
* Tangental -> Tangential for consistency
---------------------------------------------
Date : 2023/July/15
Version : 0.44
- SimulatePlanarWorld
* Handles edge of objects better making motion appear smoother
- MicroQR
* Rendering doesn't crash in special situations if you specify error level. Thanks for reporting Simon-Staal
* You can ignore padding bytes now. Thanks for reporting Simon-Staal
- Demos
* Added a color segmentation demo. Thanks Maxim Dossioukov.
- Android
* Completely new build system that doesn't use any local files
* New fragment camera code is available for use
* Thanks Maxim Dossioukov for getting the first prototype of the build running
- Security
* When de-serializing YAML it now uses Yaml(new SafeConstructor()) to prevent arbitrary code execution
* Thanks Letian Yuan for the disclosure
* SerializeFieldsYamlBase now has a whitelist of what can be deserialized
- Disparity
* Fixed a catastrophic cancellation (CC) issue with floating point math with disparity score.
* This CC issue effects SAD and NCC when dealing with distant objects.
* Sub-pixel math is adjusted depending on type of error function. Improved SAD and CENSUS subpixel
* Most application won't see a significant change in performance
---------------------------------------------
Date : 2023/May/31
Version : 0.43.1
- ImageLinePruneMerge
* Fixed NPE introduced in the previous fix that was somehow missed
- QR Code
* Padding bytes are ignored by default so that poorly encoded markers can be decoded
* Thanks Simon Staal for identifying this "issue"
---------------------------------------------
Date : 2023/May/15
Version : 0.43
- ImageLinePruneMerge
* Fixed type-o in near intersection formula. Thanks Erhan Erdemir for finding the problem.
- PointCloudIO
* Added support for STL mesh files
- Added a mesh viewer
* Swing panel, multiple controls, and help
* Generic rendering engine
---------------------------------------------
Date : 2023/Feb/20
Version : 0.42
- Build
* Added StandardStructChecks for simple data structures for follow setTo() reset() pattern
- QR Code
* An incorrectly encoded QR message will no longer cause an exception
* More support for VerbosePrint interface
- Applications
* Command line application for multi camera calibration
* PDF Titles for Fiducials are now independent of file name and informative
- Image Data Type
* forEachPixel added to interleaved images
- Image Restoration
* Geometric Mean filter
* Adaptive mean filter
- Reconstruction
* Support OBJ file format
---------------------------------------------
Date : 2022/Sep/02
Version : 0.41
- Applications
* Added Aztec Code generator
* Removed unused flag to disable printing info in PDF documents
* QR and other markers no longer require spacing between markers when there is only a single marker
* Fixed units in manually specified document size
* Create Calibration: Fixed units in manually specified paper size
* Create Calibration: Fixed disable info flag
- Android
* Properly handles multi camera systems by finding physical cameras inside a logical camera
- Demonstrations
* Better Micro QR Code visualizations
- Contour Tracing
* Can specify max and minimum contours using fractional size, i.e. ConfigLength instead of int
* Added ability to specify maximum contour in places it was missing
* ConfigPolygonFromContour doesn't produce identical results, but very similar
- ConvertBufferedImage
* RGBA with pre-multiplied alpha will have channels swapped correctly
* BufferedImage sub images work again, Thanks GenieTim
- Added Aztec Code encoder and decoder
- QR Code
* Fixed issue where it was rejecting version 1 QR codes at a highly skewed angle
* Fixed issue where it failed to detect all QR when there was a cluster of several high version
* If error correction passes it will stop processing the QR. Easier to diagnose issues.
- Micro QR Code
* Doesn't keep on trying to decode a marker if it fails after the ECC check
- Various
* Fixed crash in Niblack Family when output image was not resized to match input image
* Image.setTo() now returns 'this' to enable chaining.
* Can now colorize points based on camera reference frame, not just global
* PlyCodec - writes correct header for little endian
- Stereo Disparity: Fixed bug where invalid values got cast to a byte when image was float, causing artifacts.
- RansacCalibrated now support concurrency
- Stereo
* There's now the option to save the fit score for each pixel
- Photogrammetry
* Three-View Reconstruction: Does self calibration entirely inside of RANSAC
* Added ResolveThreeViewScaleAmbiguity
* N-View reconstruction code now directly uses the 3-view class and skips a projective scene step
* MultiBaselineDisparity now fuses into an inverse depth image
- 3D Mesh
* Added related example code
* Added support for saving mesh + color points to PLY
* Added algorithms for converting stereo disparity into a 3D mesh
- Calibration
* Mono and Stereo apps now generate calibration quality metrics for coverage and geometry
* Mono and Stereo GUIs have option to show border and inner coverage
* Added Division camera model
* Added multi camera calibration
- ImageMiscOps
* Added maskFill()
* Added a generic filter()
---------------------------------------------
Date : 2022/Jan/24
Version : 0.40.1
- Build
* Compiles using Java 17. bytecode is still Java 11
* Updated to Gradle 7
- Applications
* Batch scanning of Micro QR Codes
- QR Code and Micro QR Code
* Much stricter and more accurate test that looks for UTF-8 strings in BYTE data
* Config has defaultEncoding which is the encoding it uses if it decides BYTE isn't UTF-8
* Added an example demonstrating how raw data can be used ExampleQrCodeRawData
* Added JMH Benchmarks for regression testing
- Concurrency
* Added threaded KLT tracker
---------------------------------------------
Date : 2022/Jan/17
Version : 0.40
Build
- Added sanity check that makes sure autogenerate has been run already first and prints out a helpful message
- Fixed accidental Lombok dependency
- Added NullAway again
Misc
- Config classes now must implement setTo() which returns 'this' to allow chaining and easy copies
- ImageBase.reshapeTo() replaces matchShape()
ImageProcessing
- Added ImageMiscOps.transpose()
Background Model
- Created threaded implementations of stationary and moving
- Added internal benchmarks for moving
QR Code
- Added ability to decode transposed markers. Can be turned off.
- Records number of bit errors detected by error correction
Micro QR Code
- Added support for reading and generating
DemoThreeViewStereoApp
- Fixed handling of gray images. Thanks mb for reporting the issue!
---------------------------------------------
Date : 2021/Oct/13
Version : 0.39.1
Build
- Dropped support for Java 8 (finally)
- Generates Java 11 bytecode
- Gradle createLibraryDirectory no longer includes .class files
- Gradle alljavadoc excludes Android code to avoid silently failing
Applications
- Fixed assisted calibration launcher from CameraCalibrationMono
- Launcher now has a scrollbar and assisted calibration button
- CameraCalibrationMono --GUI now launches the new GUI
- Fixed crash in CreateFiducialSquareHammingGui
Data Structures
- StereoParameters is no longer initialized with null fields
---------------------------------------------
Date : 2021/Oct/8
Version : 0.39
- Build
* Summary JavaDoc is now required
* Runtime regression from JMH files
- Applications
* Calibration target generator supports more targets
* Add option to save landmarks locations on PDF document
* New monocular calibration GUI app
* New stereo calibration app. Command line and GUI.
* Assisted calibration can now change target type in the GUI
- Image Processing
* Added function for PSF for linear motion blur
* GConvolveImage - can now pass in BorderType
* ConvolveImage - automatic resizing of output
- Simulation
* Hunted down causes of small errors in rendering. New approach is used the samples multiple points.
* Can simulate motion blur
- Calibration
* Two high level calibration detection APIs. One for single target and one for multiple targets
* Added support for full Kannala-Brandt fisheye camera model
* Added new ECoCheck marker for multi camera calibration
* Removed Square Grid Binary target type as it was never reliable enough to flush out entirely and never used
- Fiducial Markers
* Added support for ArUco and AprilTags as "HammingMarkers"
* Can render ChaRuCo and ArUco grids, but can't detect them yet
- Visual Odometry
* Now supports concurrent model matching
- Demonstrations
* Improved stereo and mono calibration applications
---------------------------------------------
Date : 2021/Jul/12
Version : 0.38
- Build
* Updated to Gradle 6.8.3
* Now uses Toolchains. This should eliminate problems caused by people using an incompatible JDK.
* Move template from feature package into recognition package since recognition is what it does
- Examples
* Added an example for computing a trifocal tensor
* Added an example showing how the trifocal tensor can be used
- Applications
* Batch down sample app now lets you scale for a fix number of pixels and keep aspect ratio.
* CameraCalibration can now just save detections
* Several apps now let you specify a path using 'glob:' and 'regex:' greatly improving its versatility
* Added Scene reconstruction application. Command line only for now
- Android
* Fixed SimpleCamera2Activity not properly settings intrinsics. Thanks infologika-outsrc for the bug report
- Functional API
* Added forEachXY and forEachPixel to images
* PixelMath.lambda is now PixelMath.operator
* ImageBorder no longer uses reflection but uses a functional API instead
- CalibrationIO
* Can save and load calibration landmarks in CSV format
* Can save and load Brown camera model in OpenCV format
- UtilIO
* Added saveConfig() to save any BoofCV Configuration in a yaml format
* Added listSmart() that can list files inside a directory, blob pattern, or regex pattern
- DownSelectVideoFramesFor3DApp
* Fixed image scaling issue when image was smaller than desired
- QR Code
* Fixed reading of second format region. Thanks DCNick3 for finding the issue!
* Fixed UTF8 issued when guessing the encoding. C2 was incorrectly marked as invalid
Thanks gerripeach for finding the issue and helping debug it!
- Image Processing
* Re-ordered loops to speed up vertical convolution for inner image. 1.2x to 3x faster. Except for U8_I16
* Added Scharr Gradient 3x3
* Added Template Squared Difference Normed. Thanks rthaenert for the feature request
* Wolf and Niback Binarization
- Image Features
* Fast Corners are now concurrent
* SIFT the entire scale space is computed at once. This might result in a net ~10% increase memory.
* SIFT fixed bug where it was not respecting maximum feature detections.
* SIFT concurrent implementation is running. Single thread is about 3% slower.
- Image Recognition
* Added: Bag-of-Words Nearest Neighbor search with Inverted Files
* Added: Nister, Stewenius, "Scalable recognition with a vocabulary tree", CVPR 2006
- Scene Reconstruction
* Added high level implementations which break down sparse and dense reconstruction down to their bare inputs
* Multiview Stereo has better center view selection which reduces amount of redundant views
* Added SimilarImages implementations that use Image Recognition, i.e. loop closure
* Instead of a single seed for the metric reconstruction multiple seeds are spawned, grown, then merged.
* Improved pairwise scoring. It can differentiate between planar scenes and pure rotations.
- SFM
* Triangulate 2-views in homogenous coordinates
* Switched several 2-view triangulation classes over to using homogenous coordinates so that
points at or near infinity are no longer a failure mode
- MultiViewOps
* compatibleHomography
* homographyToFundamental given 2 points
- PerspectiveOps
* isBehindCamera(homogenous) handles the more nuanced case of determining if a homogenous point is behind
- Misc
* Added ConfigGenerator for easily creating a set of Configurations when parameter tuning
* Added PointTracker.getImageType() so you know what type of image it requires
---------------------------------------------
Date : 2020/Dec/21
Version : 0.37
- Build
* Switch to Java 14 syntax. Still generating Java 1.8 byte code
* Removed auto generated F32 files from the build
* Can now generate code from some Generate*.java files with a gradle command.
- Generated source is still in repo to make submitting PR's easier but stale files will now be caught quickly
* Uses Error Prone and Null Away
* Modified sub-projects to stream line build process and to be more logical
* Moved `calibration` into `geo`
* Created `ip-multiview` and moved disparity code and a few classes in `geo` in to it
* All functions are checked for stdout spam
* Added lint checks for how "var" is used and for-each style loops in performant code
- Random Dot Markers
* Created GUI for generating markers. Print or save to disk
* Fully integrated into Applications
* Rectangular markers are now fully supported
* Small runtime speed improvement by recycling memory
- PointTracker
* Orientation is now configurable using the new interface
* Added back in or added for the first time association with sets using `AssociateDescriptionSets`
* Added PointTrack.lastSeenFrameID field
- Color
* Added support for YUYV color format used in webcams
- Image Processing
* PixelMath now supports Lambdas
* Median blur supports kernel radius independently along x and y. Thanks thhart for the request.
- GUI: Swing Point Cloud Viewer
* Added clip and fog controls
* Holding control slows down translation and switches mouse to doing roll
* Might have fixed halting issue
- Features
* Removed BrightFeature since dark/white has been moved into the detector in all situations
- Feature Sets
* Created FeatureSets interface that specifies how sets are handled by feature detectors
* This makes it easier and less complicated to only associate "dark" or "bright" features with each other
* Added functions to UtilFeatures to simplify adding sets to association algorithms
- Feature Association
* Greedy 2D now can do all the validation tests that the regular one can do
* Greedy 2D now has a concurrent version
- Visual Odometry
* Updated to take advantage of new 'sets' API in PointTracker
* DDA and Hybrid have been updated to use the new 2D association API
* Updated code to take advantage of better data structure/functions since they were first created
* Uses common SBA code now. Supports more configurations than before.
- Examples
* Updated ExampleImageEnhance to include color images
- Demonstration Applications
* Examples are no longer added to recent file list
* openFile() now works again with relative file paths
* Clear recent item list
* Discrete image pyramid can now be configured with both min pixels and levels
* Updated Hybrid Tracker's GUI controls
* Updated Hough Binary and Hough Gradient to allow clicking in transformed image and more
- FeatureSelectLimit
* Supports multiple point types
* Variant with and without intensity information
* Spatial approaches work when there are no images and intensity is derived from features
- PKltTracker
* Maximum tracks is now ConfigLength to make it easier to tune once across image sizes
- FAST Corner feature detector
* Configurable in the GUI
* More efficient storage of candidate corners
- RegionOrientation
* Can now specify feature orientation approach using Configuration class
- PointTrackerKltPyramid
* It now manages the track limit itself instead of letting the detector handle it
- General Feature Detector
* Exclude list is no longer subtracted from requested detections
* Single exclude list for max and min
* When both max and min are detected excluded is correctly handled now
* Feature limit is split between max and min
- FAST corners
* Fixed rounding issue in F32 variant
- SURF Feature Detector
* Moved computation of dark/white feature into detector
* Added support for limiting the total number of features returned with SelectLimit
- SIFT Feature Detector
* Added support for limiting the total number of features returned with SelectLimit
- PerspectiveOps
* Fixed a bug in one of the renderPixel() functions (used fy instead of fx)
- Scene Reconstruction
* Fixed bug in CompatibleProjectiveHomography when using camera matrices only
* Projective from arbitrary images using PairwiseImageGraph
* Projective to Metric for arbitrary number of views
* PointTrackerToSimilarImages uses a tracker to match features for reconstruction
- Multi-View Stereo
* Added MultiViewToFusedDisparity to combine multiple disparity images into one
* Added MultiViewStereoFromKnownSceneStructure which computes a dense cloud from multiple disparity images
* Added an application which down samples the frames in an image sequence based on quality of 3D geometry
- Sparse Bundle Adjustment
* Fixed bug in how pixels are scaled in ScaleSceneStructure.
* A view's pose can now be specified relative to other views. Can be a known or estimated parameter
- MultiViewOps
* Fixed decomposeMetricCamera() so that it doesn't change the scale of T. This messed up common frames
* Triangulate N-points using calibrated homogenous coordinates
- Stereo
* Speckle noise removal algorithm. Supports U8 and F32 image types.
- Calibration
* Stereo calibration now performs a join bundle adjustment after estimating the stereo baseline
- Concurrency
* Removed WorkArrays since they were poorly designed
---------------------------------------------
Date : 2020/May/18
Version : 0.36.1
- Fixed loading Uchiya Marker description from a jar in the Example
- Fixed Uchiya Marker Demonstration when running from a jar
- Fixed Stereo Visual Odometry demonstration when running from a jar
* This should also fix anything in the future which uses file sets
---------------------------------------------
Date : 2020/May/17
Version : 0.36
- Build
* Created integration/boofcv-pdf module to contain code for reading/writing PDF documents
* If stable release, fail uploadArchives if dirty
- Android
* Changed a sort function in ChessboardCornerClusterFinder for Android compatibility
- Using Java 11 syntax (e.g. var) but still will produce Java 1.8 byte code
* https://github.com/bsideup/jabel
- Misc
* Change the definition of a floating point value to be inside image bounds if it's less than width or height
before it was < width-1, and < height-1. This conforms to rounding down standard.
* Created FiducialTracker interface
* Updated for DDogleg's FastAccess, FastArray, and FastQueue
* Config's now all implement setTo() and this is enforced with a unit test
* Planar images now update the number of bands in ImageType when the number of bands is reshaped
- Added Project Lombok for auto generating setters/getters
- Kotlin
* Initial release with specialized support for Kotlin
* Extensions provided for converting between image types
* Operator overloading for PixelMath
- Image Processing
* Fixed ImageDistort crashing if an invalid region is specified. It simply does nothing now.
* FDistort now supports SKIP border. Thanks Nico Stuurman for reporting the issue!
* Created ContourOps
* Deterministic non-max block concurrent algorithm
* Discrete image pyramids can now be dynamically defined based on input image size
* Added a proper config for discrete image pyramid levels
* Deterministic non-max suppression block candidate concurrent
* ImageMiscOps.copy() with border for input image
* ImageMiscOps now has concurrent code
* ImageMiscOps.findAndProcess()
* Split mean filter into BlurImageOps.mean() and BlurImageOps.meanB()
* BlurImageOps.meanB() requires a border to be specified, if null is specified then just the inner portion is processed
* Created Histogram2D_S32 to easily create and process 2D histograms
* Created ImageCoverage which is used to compute the fraction of an image covered by features
- DeformPointMLS
* Massive reduction in memory usage. 20k control points: 800 MB to 3.4 MB
See BMemoryImageDeformPointsMLS
* Thanks olegvakulenko for finding the problem and submitting the initial fix!
- Moved KLT from boofcv-geo to boofcv-feature
* No idea what it was doing in geo originally but it didn't belong there!
- QR Code
* More informative error message when encoding a QR Code
* Fixed incorrect conversion from bits to bytes. Can sometimes store more data!
* Thanks phillip-fry for reporting the problem
- Added Random Dot Marker (Uchiya Marker)
* First pass implementation. Plenty of room for improving speed
- PointTracker
* Added frameID for each processed frame
* Added spawnFrameID to tracks
* Tracks and similar data structures no longer extend Point2D. Serious unintended consequences from that.
Point2D overloads equals and hashcode which broke trackers.
- FeatureSelectLimit
* When the number of detected corners/features exceeds a specified limit these are used to resolve the ambiguity
* Most of this code existed in some form but was not formalized and centrally implemented
* Four different variants are provided
- Shape Detectors
* BinaryEllipseDetectorPixel will use external only contour detector when it doesn't detect internal contours
- PerspectiveOps
* Added two types of point invariants
- Association
* Added score ratio test to Greedy
* Added Configuration for Greedy
- Scene Reconstruction
* Better cropping on rectified image using bounding box instead of rotation matrix
- Visual Odometry
* Re-wrote VisualizeStereoVisualOdometryApp. Much better visualization and more configurable
* All stereo visual odometry algorithms now support multiple key frames and bundle adjustment
* Note all approaches lost 2D spatial association, ability to feature handle sets, and two pass tracking.
* While this simplified the code the loss of 2D association did degrade runtime performance significantly for Quad.
* Those are all scheduled for consideration in the next release with a cleaner interface
- Stereo
* Added sparse disparity with Census and NCC
* Added Census support for F32 images
* Changed how correlation texture check is done. Before two identical peaks didn't get filtered.
* Added sparse forwards-backwards validation
- Android
* Changed image workspace from byte[] to GrowQueue_I8 so that it can be dynamically computed.
* Fixed issues with visualizing disparity
* SimpleCamera2Activity::cameraIntrinsicNominal() returns false if it fails
* Added Bitmap processing example
- Applications
* Fixed calibration detector apps bug where scale got missed up when playing a movie
- OpenKinect: Removed integration package since it hadn't been used in years
- Demonstrations
* Demonstration recent file list is now in YAML format and supports multiple files
* Added settings
* Added the ability to switch between different swing themes; darklaf and material-ui
* It will default to JCodec if all else fails when trying to load a movie.
- JCodec
* Finally fully integrated and MP4 videos can be read on all systems!
* Updated to latest release and fixed bad code in BoofCV.
- Color
* Can convert YUV, HSV, and YCbCr to 32-bit RGB color
* Fixed conversion between XYZ/LAB and RGB by applying Gamma correction.
- Thanks Jairo Rotava for finding/showing/helping to fix the XYZ/LAB bugs!
* Added XYZ/LAB to RGB conversion.
* Added ColorDiff - Computes metrics for the difference between colors
- Thanks Jairo Rotava for the code contribution!
---------------------------------------------
Date : 2019-Dec-23
Version : 0.35
- ImageType now as predefined types, e.g. SB_U8, IL_F64, PL_S32, ... etc
- Build
* Fixed some dependencies not being included in the library zip (Thanks changbaishan)
- Mean Shift
* Even kernel sizes
* Configuration class
* Ignore negative values
- Image Processing
* Added Hessian determinant direct from input image
* Added sumAbs() to ImageStatistics
* Added histogramScaled() to ImageStatistics
* Added Census transform
* Added stdev to Pixelmath
* Added fillBorder(x0,y0,x1,y1) to ImageMiscOps
* Created ImageNormalization for normalizing input images to be zero mean with values around 1
* Added blur where you can select a different radius along each axis
- Mean and Gaussian
* PixelMath.log() no longer has the 1 + hard coded. Any arbitrary value can be put there.
* Created ConvertImageMisc and added code to convert F32 to U16 images
* Hough Polar Gradient type casted a float to an int when it shouldn't have
* Added generalized function for copying rows and columns from images
* Added the ability to make a copy of an ImageBorder
* Mean filter now supports different image border methods
* Added ImageMiscOps.growBorder() to create a new image that is the src image plus a border
* Added GrowBorder for extracting rows and columns from images with borders added
* Rectified images can now be adjusted using the rectified rotation for better usage of space
* ConvolveImageMean can now handle non symmetric regions
- Template Match
* Fixed bug where if the template matched the input image it would not be processed
* Thanks waicool20 for reporting this bug
* Functions which maximize and minimized have specialized code
* Fixed edge cases where having a border of zero messed things up
* Sum Squared Error (SSE) produces similarly scaled numbers for U8 and F32 now
* Added Sum Absolute Difference (SAD) error
* Updated error names to make them more common
- Concurrency
* PixelMath now only uses concurrent algorithm when input image is more than 10,000 pixels.
Going MT on small images caused Circulant tracker to slow down.
- Demonstrations
* Updated DenseFlowApp
* Updated VisualizeRegionDescriptionApp
* Updated VisualizeAssociationScoreApp
* Updated VisualizeImageSegmentationApp
* Updated VisualizeStereoDisparity
* Three view handles 90 degrees out of orientation images much better
- Fixed bugs related to processing 1-band planar images
- Stereo
* Improved high level API
* Concurrent block matching disparity
* Support for U16 images
* Block Matching can now be scored using Census and NCC
* Added Semi-Global Matching (SGM) with several options for score functions
- SFM
* Projective camera with lens distortion
- Chessboard Detector
* Renamed previous detector to ChessboardBinary since it uses a binary image
* Created a new XCorner based method which is much more robust but slower
* Removed the old new detector based on Shi-Tomasi Corner + Binary Threshold
- About the same speed and as reliable as Chessboard Binary. Maybe it just needed more development
---------------------------------------------
Date : 2019-July-07
Version : 0.34
- Applications
* Added batch QR Code scanner
- Examples
* Added corner detector
- BinaryImageOps
* Added concurrent implementations
* Modified edge so that outside pixels can be treated as 0 or 1
* Block threshold can now handle images smaller than the block size
* Global threshold algorithm can now have the threshold scaled
- Line Detectors
* Created a new interface which takes in image gradient
* Improved merging algorithm for hough polar where it was pruning any line that interested inside the image
* Hough Line Foot now parameterizes using a soft rule
* Added mean-shift refine to foot
* Added a binary input variant on Hough Polar
- Removed some reflection code for image gradient
- Concurrent code for ImageDistort
- Demonstrations
* modernize mosaic and stabilize
* modernized hough polar and foot
- Examples
* Android example disables threads if SDK is prior to 24 due to lack of Java 1.8 support
- ImageStatistics
* Added support for Planar images. Thanks thhart for the suggestion
- Feature Association
* Concurrent version of Greedy Association
* Concurrent version of Nearest Neighbor Association
* Concurrent version of Random Forest Association
- Feature Descriptors
* Concurrent SURF, SURF Color
- Added configuration for Harris and Shi-Tomasi corner detectors
- Average Down Sample has concurrent versions
- PixelMath added logSign to handle images with positive and negative values
- Split apart calibration detector configuration and shape configuration
- Chessboard Detector 2
* Rewritten from scratch using a new type of corner detector
* Better handling of blurred and fisheye images
- Simulation
* Concurrent version of SimulatePlanarWorld
- Concurrent version of template matching
- Android
* Thanks sergiuchuckmisha for fixing a bug/type-o in FOV estimation
* Possible fix for a failed resolution change
- Geometric
* Added Projective N-Point (PRnP) algorithm using DLT
---------------------------------------------
Date : 2019/03/18
Version : 0.33.1
- Fixed QR panel list in demo app
- FileBrowser now lists directories first
- Demonstrations
* Removed redundant association apps
* Updated association so that you can select your own pair of images
* Worked around a bug in mimetype in JDK 1.8 in OS X
* Error reporting if image failed to load
* Modernize contour edge
---------------------------------------------
Date : 2019/03/14
Version : 0.33
- Fixed JavaDoc issue. Was not copying over doc-files
- Renamed PinholeRadialTangent camera model to PinholeBrown
* More concise name which resulted in class names being more consistent without abbreviations
- Sparse Bundle Adjustment
* Added calibrated homogenous coordinates
* Added support for rigid objects
* Added universal omni camera model (fisheye)
* Made Brown camera model complete (e.g. N radial, tangential, force params to zero)
* Added support for quaternions
- Dense Bundle Adjustment
* Added for degenerate systems which are small enough to be solved with a dense method
* Note: This statement seems to be a bit hit or miss. Not sure why, but it doesn't always converge when sparse does.
- Geometry
* HomographyDirectLinearTransform has been updated to take 2D points, 3D points, and conics as inputs.
- Fixed Rodrigues Jacobian for zero rotation
- Camera Calibration
* Renamed radial-tangential model to Brown for consistency and brevity
* Fixed type-o in Omni Universal math. Recalibration does not appear to be necessary
* Non-linear optimization is now performed using sparse bundle adjustment
- This appears to be slightly worse than the original dense method in nearly degenerate geometry
- Improved Support for U16 images
* Convolution, blur, ... etc
* Requested by Nico Stuurman
- Resize Output Images Instead of Exception
* PixelMath
- Image Thresholding
* Added Li
* Added Huang
* Ported from ImageJ by Nico Stuurman
- ImageBandMath
* Added by Nico Stuurman
- QR Code
* Added support for ECI, i.e. more character sets
* Changed default BYTE mode encoding to default to UTF-8, but attempts to see if it could be another encoding
* Ability to change byte encoding. UTF-8 is the default now
* Add perspective data set to regression.
* Improved handling of high version QR Codes. Thanks Prabu for discovering this problem and providing examples!
* Fixed location of alignment patterns along the y-axis. This mostly affected higher version QR
- PerspectiveOps
* Fixed bug in convertPixelToNorm() where it called distort instead of undistort. Thanks Tianyi
- Demonstration
* Modernized VideoTrackerPointFeaturesApp
* Modernized FFT Demo
* Modernized Blur Demo
* Modernized Image Derivative Demo
* Three View Stereo
- Using AverageDownSampleOps to avoid aliasing and drastically improves performance
- Selects best pair automatically for stereo processing. Before it was always image 0 and 1.
- Tracking
* Detect-Describe-Associate (DDA) tracker would let the number of tracks grow unbounded.
It now randomly selects unassociated tracks if there are too many.
- Swing
* Touch pad "wheel" controls are less spastic in OS X
- Gradle
* Fixed how dependencies are referenced and Jars built. Thanks H1Gdev for pointing out this problem!
- Image Distortion
* Changed interface for PixelTransform and PointTransform to support concurrency
- Concurrency
* Added support for concurrency. On by default. Can be turned OFF using BoofConcurrency.USE_CONCURRENT = false
* Created AutocodeConcurrentApp for generating threaded code from single thread algorithms
* Created IntRangeConsumer for parallel code that processes a range of numbers in a block
* Convolution: general, sum, mean, gradient
* Threshold: Local, Block
* Color: HSV, LAB, RGB, XYZ, YUV, NV21, YV12
* Misc: PixelMath, ImageStatistics, Non-Max, Non-Max Candidate, ConvertImage, ConvertBufferedImage,
EhanceImageOps
* Feature Intensity: SURF, SSD Corner
- Examples
* Removed Lena as default image since that image is no longer considered appropriate by some journals.
- https://en.wikipedia.org/wiki/Lenna
---------------------------------------------
Date : 2018/12/26
Version : 0.32
- Internally using URL to load resources (e.g. images, videos) to enable running inside of jars
- Demonstrations / Examples
* Colorized code
* Updated detect line demo
* Updated image enhance demo
* Two view uncalibrated stereo re-written from scratch
* Three view uncalibrated stereo
* Visualization for three view associations
- Fiducials
* Several implementations were not properly performing sparse undistort of contours.
* This was fixed but might cause a noticeable performance hit, e.g. 5% to 25%.
* If radial + tangential terms are close to zero you can just remove them and not experience this slow down.
- Applications
* All applications have a GUI
* Centralized GUI for launching
- QR Code
* QrCodeDetectorPnP can estimate 6-DOF pose from a QR
* Encoder does a better job of rejecting invalid QR configurations
* Detector can optionally estimate in undistorted image coordinates
- Changed Fiducial stability calculation to use 4 synthetic corners as way to improve speed
- InterleavedU8 and Planar<GrayU8>
* Added set32/get32 and set24/get24
- ConvertImage reshapes output instead of throwing an exception
- LensDistortion
* Fixed transformChangeModel() it was undistorting twice when it should have undist then dist
* Split some of the code between F32 and F64
* Bound now works on arbitrary distortions
- ImageDistort
* Can compute a mask that indicates which pixels were outside of the source image
- Geometry
* Fixed bug in Linear Trifocal Tensor estimator
* Robust trifocal tensor estimation
* Decompose absolute quadratic
* Convert projective to metric camera matrix
* Fixed bug in decomposeMetricCamera
* Refine triangulation for projective geometry
* Improvements to factory methods
* Fundamental matrix from camera matrix
* Consistent camera matrices from three fundamental matrices
* Cleaned up naming scheme for triangulation algorithms
* Refine three view camera matrix (i.e. trifocal tensor)
* Many more new functions/algorithms added
- Rectification
* Can apply a mask to disparity to remove false matches caused by image border in rectified images
- Self Calibration
* Plane at infinity given intrinsic parameters
* SelfCalibrationGuessAndCheckF based on "Pratical Autocalibration" 2010
* Linear rotation with different values in each frame
- SFM
* Improvements to projective bundle adjustment
* Projective scene structure pruning
- ImageInterleaved
* setTo() changes number of bands if needed
* Improved speed of Interleaved to Gray average
- Android
* Bunch of bug fixes
* Extracts the full pinhole calibration matrix from camera characteristics
---------------------------------------------
Date : 2018/10/16
Version : 0.31
- VisualizeCamera2Activity
* Fixed example
* Removed lock from bitmap in VisualizeCamera2Activity for performance
- ImageMiscOps
* Added extractBand()
- Updated gversion to fix problem when built from a directory other than project base
- Fixed problem with Java applications
* Can't use implementation when specifying dependency in this situation
* Thanks Andy Thoma for reporting the problem
- ImageMiscOps
* Added interleaved support for copy, rotateCW, rotateCCW
* Thanks Frank Jakop for the suggestion
- Geometry
* Projective triangulation for uncalibrated cameras
* Added EssentialResidualSampson for computing sampson error in pixels for calibrated cameras
* EpipolarMinimizeGeometricError
* Trifocal transfer functions
- Sparse Bundle Adjustment
* Most basic version using DDogleg and EJML sparse LM solver
* Works with calibrated pinhole camera
- Scene Reconstruction
* Matches images and provides an initial estimate of geometry
* Support for calibrated. Still a work in progress
* EstimateSceneUnordered for image sets which are unordered
- Visualization
* JavaFX based point cloud viewer
* Greatly improved BoofCV's built in point cloud viewer. Runs better than JavaFX
- Thresholding
* Added NICK thresholding for old documents
- SimulatePlanarWorld
* Only renders surface when the normal is facing the camera
* Added unit tests to ensure that all flipping/mirroring is handled correctly
- Switched to JUnit5
- QR Code
* When scanned it now indicates if multiple modes were used
---------------------------------------------
Date : 2018/05/21
Version : 0.30
- Renamed HomographyLinear4 to HomographyDirectLinearTransform
* More consistent with the literature
- Added HomographyTotalLeastSquares
* Computes the homography gives a set of associated 2D points
* About 4x faster than DLT
* Mathew Harker and Paul O'Leary "Computation of Homographies"
- PNP
* Added IPPE; Collins, Toby, and Adrien Bartoli. "Infinitesimal plane-based pose estimation."
- QR Code
* QrCodeGeneratorImage automatically has a white border
* Fixed crash bug if it estimated a version 0 QR
* If possible, it will recycled binary image instead of creating a copy internally
- Square Fiducials
* If possible, it will recycled binary image instead of creating a copy internally
- ImageType
* Added setTo() and isSameType()
- ImageMultiBand
* Added reshape(width,height,numberOfBands)
- Android
* Support for camera2 API
- ImageConvert
* Added convert between planar and interleaved of different data types
- Fast Corner
* Improved efficiency by changing how points are sampled
* Added a variant which doesn't compute feature intensity
- PointTracker
* Can handle multiple sets of detected features, e.g. min and max features
- Stoppable
* An interface for gracefully exiting a long running process
* MeanShiftSuperPixel, SLIC
- ColorFormat added to specify different formats for visible light
- Calibration
* Fixed issue with chessboard patterns when they are very close
- AdjustPolygonForThresholdBias
* Handles case where a point is shifted and becomes a duplicate
- ImageZoomPanel
* Saving the view saves what you see exactly now
- Binary Contour
* New external only contour algorithm
* About 1.35x faster on average and in some situations 10x faster
* Contour finding now has two high level interfaces
* Optional interface for implementations which provide access to padding settings.
- PolylineSplitMerge
* Minimum side length is enforced fully now
- Simplified transforms to equirectangular images
---------------------------------------------
Date : 2018/03/18
Version : 0.29
- Changed minimum Java version from 1.7 to 1.8 since Android now supports 1.8
- Manual zoom added to ImagePanel
- QrCodeDetector
* Fixed crash bug in position pattern detector. Complex B&W patterns could cause OOB
- Image Thresholding
* general otsu specifies pixel min/max with a double not an int
- Stereo Calibration
* Moved detector to be outside of the main calibration class
- Demonstrations
* Moved menubar to the correct location
* Tweaks for Mac OS X
* Improved several applications
- Images
* Gray images support createSameShape(type)
* Added matchShape() to replace the more verbose reshape(image.width,image.height)
- Contours
* Created an interface for finding contours in a binary image
* Provided a way to override Chang2004
- GImageMiscOps
* fillUniform wasn't actually inclusive on upper limit for integer values
- ShowImages
* showWindow() adjusts preferred size to handle the case where the image is larger than the monitor
- QuadPoseEstimator
* Can specify if input is in pixels or normalized coordinates
* Deleted unused code that was sketchy
* Added function to go from a pixel to a point in the marker frame
- Added GVersion class that is automatically generated and contains build related information
- PolylineSplitMerge
* Added support for segments which don't loop
* Fixed Bug where if a segment was the minimum length exactly it could still be split
- SplitMergeLineFit
* Deprecated and will be removed soon
* PolylineSplitMerge now has all of its functionality and out performs it
- FFMPEG
* Suppressed warning message that has been spamming stderr
- Camera Calibration
* Tweaked API so that you process the image outside and pass in the results
* GUI: For universal omni the undistorted window is automatically scaled based on image size
- ImageConvert
* Faster technique to convert between interleaved and planar
- MultiCameraToEquirectangular
* Correctly handles NaN in equiToCam transform
- Started using @Nullable and @Nonnull
* Primarily in factories where if a config can be null or not is confusing
- ConvolveImage* refactoring
* Removed WithBorder from class name for simplicity
* Made naming more consistent in general
- BackgroundModel
* Added a combined function for update and segment
* Added new algorithm. Gaussian Mixture Models (GMM)
- FiducialDetector
* Added an optional function which can return the fiducial's boundary
* Updated demo app to visualize all the information it can return
* setLensDistortion() now takes in image width and height. This is done to enable precomputing of distortion
- ThresholdLocalOtsu
* Fixed bug where it was always trying to use a region of size 0
- BOverride
* Added more overrides and improved API
* Used by BoofCPP to call C++ Code
* https://github.com/lessthanoptimal/BoofCPP
---------------------------------------------
Date : 2018/01/20
Version : 0.28
- Black Polygon Detector
* Can detect polygons using contour, then on an individual basis refine them now. Before it was all or nothing.
* Prune contours based on edge intensity earlier
* Removed refine corner for black polygon detector
- Was complex, didn't fit the new API, and calibration residuals got better once removed.
* Added option to optimize by fitting lines to the contour
- Chessboard Detector
* Improved performance on larger image by making thresholding region relative to image size
* Has known issue on larger images where a little bit of blur can join squares together.
- Background Model