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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