[37] | 1 | $Id: changes.txt,v 2.2 2005/05/24 09:15:31 svoboda Exp $ |
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| 2 | |
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| 3 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 4 | |
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| 5 | List of the most significant changes since the last public release |
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| 6 | from 30th July 2003 |
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| 7 | |
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| 8 | - The RANSAC validation was rewritten as m-functions. Hence, no |
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| 9 | re-compilation of the c-codes is necessary. The user can switch |
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| 10 | between the mex- and m- version of the RANSAC by specifying the path |
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| 11 | in gocal.m addpath ../RansacM; % ./Ransac for mex functions The |
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| 12 | m-version can be slow for highly noisy data. |
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| 13 | |
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| 14 | The m-version of the RANSAC uses the 8-point algorithm not the |
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| 15 | 7-point algorithm as the c-version. It is then less optimal. I was |
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| 16 | just too lazy to rewrite the more complicated 7-point algorithm. I |
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| 17 | did many experiments, the 8-point algorithm did well in all cases. |
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| 18 | |
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| 19 | - gocal.m ... code cleaned, output better formatted (new function |
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| 20 | dispcamstats) |
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| 21 | |
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| 22 | - local alignments ... code cleaned, redundant I/O parameters |
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| 23 | (possible source of errors) removed |
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| 24 | |
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| 25 | - getpoint.m ... code cleaned, made a bit faster. Made compatible with |
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| 26 | the newest image processing toolbox, ver>5 |
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| 27 | |
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| 28 | - showpoints.m ... it possible to switch between single images and |
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| 29 | image mosaics. The image mosaics may sometimes speed-up the |
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| 30 | debugging process when something goes wrong with the point |
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| 31 | detection. |
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| 32 | |
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| 33 | - The standard Matlab function quiver was copied to the BlueCCal |
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| 34 | distribution since it has problems in the newest Matlab ver>7. |
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| 35 | |
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| 36 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 37 | |
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| 38 | List of changes against to the last public release from 18th July 2003: |
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| 39 | |
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| 40 | Fixed Bugs in Code: |
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| 41 | |
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| 42 | - radial distorion ... proper handling of images with resolution |
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| 43 | different than 640x480 |
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| 44 | |
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| 45 | |
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| 46 | Functionality: |
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| 47 | |
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| 48 | - support for non-color images added. You may either specify |
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| 49 | config.imgs.LEDcolor='intensity' and the color images will be |
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| 50 | converted to a grayscale or the GETPOINT detects that the image is |
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| 51 | only grayscale and it will be handled as such |
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| 52 | |
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| 53 | - main cycle in GOCAL. Some upgrade to make it more robust. I am |
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| 54 | testing the upgrades on all datasets I have. It should be backward |
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| 55 | compatible. Typically, new bad data discovers a small |
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| 56 | functionality-bug in the main iterative cycle. |
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