Triclops Stereo Vision SDK Release Notes ---------------------------------------- We welcome your questions and comments: http://www.ptgrey.com/support/contact/ =============================================================================== Triclops SDK 3.3 Triclops 3.3 Alpha 2 (June 25 2010) - Added support for native 64-bit architecture. - Increased stereo performance by utilizing multi-core processing. - Added support for Visual Studio 2005. - Removed support for Visual Studio 6. =============================================================================== Triclops SDK 3.2 Triclops 3.2 Beta 15 (June 22 2008): - Added support for XB3 for applications like Multiclops. - Fixed GUI bugs to improve interface. - User can now select Format 7 mode 3 RGB mode for an XB3 without crashing application; however, stereo is still done with only 2 of the 3 cameras. - When using a BB2, 2cam Wide radio button is no longer available. Triclops 3.2 Beta 14 (October 25 2007) - Fixed issues related to the saved image formats (bug 5167). Stereo inputs can now be saved as a side-by-side .pgm. Side-by-side colour .ppm images may be loaded as stereo inputs but only the green channel will be used for processing (.pgm files are recommended). - Fixed a bug where changing the stereo processing size would corrupt loaded data. - The baseline is now selectable when using a multi-baseline calibration file (eg. XB3) and saved data. Please make sure the processing baseline is consistent with the baseline the data was saved from. - Fixed a minor issue where invalid file extensions would be displayed in some dialogs. Triclops 3.2 Beta 13 (July 10 2007) - Added and modified sln and vcproj files so that all examples build with VS2005. Triclops 3.2 Beta 12 (June 4 2007) - Fixed minor bug related to starting hi-res Bumblebee2s in TriclopsDemo. Triclops 3.2 Beta 11 (June 1 2007) - Added support for low-res Bumblebee2s. - Fixed various bugs in examples. Triclops 3.2 Beta 10 (April 2 2007) - Added triclopsDemo example which is used for stereo using Bumblebee2's and XB3's. - Most triclops examples have been converted to use the Flycapture API and moved to the win32 examples folder. - We should no longer be using the Digiclops API. Triclops 3.2 Beta 9 (February 5 2007) - Bug 4883 - Adding missing calibration and stereo input files into the bin directory for use by the stereospeed example. Triclops 3.2 Beta 8 - Fixed a bug (2200) that causes 3 Camera stereo to sometimes give a poor result under subpixel interpolation. This has reduced the speed of 3Cam stereo but also improved the depth quality - Fixed a bug (2028) with triclopsWriteDefaultContextToFile() - function now works correctly - Major reorganization and changes to the Triclops example programs All previous examples have been replaced/modified and new examples added to better demonstrate Triclops library functionality Triclops 3.2 Beta 7 - This release is identical to Triclops 3.2 Alpha 6. Triclops 3.2 Alpha 6 - Major reorganization of the "triclops.h" file The file now only has the essential functions declared in it and instead includes a variety of specialized .h files such as "triclops3d.h", "triclopsstereo.h", "triclopsrectify.h", etc - triclopsPreprocess() has been replaced by triclopsRectify() and marked for deprecation - Widebaseline functionality has been marked for deprecation : triclopsCreateWidebaselineContext() and triclopsCreateWidebaselineInput() - Skewing correction In order to enforce vertical and horizontal epipoline alignement, some degree of skewing may be present in the rectified image. New version (4.0 or later) of the calibration file will include a skewing and an unskewing matrices to correct for this artifact. Earlier version calibration files will default these correction matrices to an identify matrix indicating no correction to be performed. The usage of these correction matrices are automatically done in triclopsRCDToXYZ and triclopsXYZToRCD, so there is no need for user level code change to benefit from the skewing correction. - Removed the deprecated 'ok' error code. Please use TriclopsErrorOk. Triclops 3.2 Alpha 5 - Dramatic speedup in Enhanced rectification modes. Example 1: On a 2.4 GHz PIV processor with 1GB RAM, with a lo-res B&W bumblebee at 640x480 resolution, rectification using mode TriRectQlty_ENHANCED_2 requires 76 ms (about 13 Hz). Example 2: On a 2.4 GHz PIV processor with 1GB RAM, with a hi-res color bumblebee at 1024x768 resolution, rectification using mode TriRectQlty_ENHANCED_2 requires 203 ms (about 5 Hz). - Fixed bug in Enhanced Rectification modes (mostly affecting mode TriRectQlty_ENHANCED_1). - Added new Triclops API call triclopsWriteCurrentContextToFile(). This allows the user to save the current configuration to a file, which can then be read in at a later time to reset all stereo parameters to the values which existed at the time the file was written. Triclops 3.2 Alpha 4 - Sped up 2-cam subpixel stereo by about 20% for processors supporting SSE2. - Sped up 2-cam full-pixel stereo by about 10% for processors supporting SSE2. - Sped up 3-cam stereo by about 10% for processors supporting SSE2. - Fixed bug 1846 Triclops 3.2 Alpha 3 - Fixed bug 1809, 1828 Triclops 3.2 Alpha 1 - Added two stereo enhancements, one for rectification and one for basic stereo algorithm. Both provide more accurate data at the subpixel level, and should reduce artifacts in the disparity/depth data. API to Triclops library has been augmented. See triclopsSetRectImgQuality() and triclopsSetStereoQuality(). - Increased allowable maximum disparity value from 240 to 1024. (Disparity range is still limited to 240.) Disparity offset is now part of the library. See triclopsGetDisparityOffset(). - New calls to read/write processed images from the triclops context to/from PGM files. Useful information is now stored in the PGM header, and accessible when the image is read back in. See e.g. triclopsSaveImageExtra(). - Fixed bug 1287 - all versions of stereo now handle the borders of the disparity range in the same way. - Fixed bug 1751 - to do with bogus results when using the disparity mapping option (non-subpixel stereo only). - Other minor bug fixes. =============================================================================== Triclops SDK 3.1 Redhat Linux 9 Triclops 3.1 Beta 5 corresponds to Win32 Triclops 3.1 Release 6. Triclops 3.1 Release 6 - Fixed bug 1450 - Rectification has been improved. Note that rectified images and stereo data produced by this library will not match previous data produced by previous versions. Triclops 3.1 Release 5 - Fixed bug 936 - Removed useless triclopsSetDebug() and triclopsGetDebug() functions. - Fixed bug 984 - triclopsWriteDefaultContext() now works properly. - Fixed bug 981 - Uniqueness validation increases disparity. Triclops 3.1 Release 4 - Fixed bug 927 - Bad subpixel disparity images with 2 cam horizonal mode in some cases. - Fixed bug 980 - Problem with 2cam stereo when uniqueness validation is off and texture is on. Triclops 3.1 Release 3 - Fixed ROI bug detailed in support ticket 673. Triclops 3.1 Release 2 - Fixed bug 944 - triclopsRCD16toXYZ() giving incorrect values. Triclops 3.1 Release 1 - Fixed a bug in triclopsRectifyPixel() involving rectification of raw images having a different size. Triclops 3.1 Beta 4 - Fixed bug 602 - Small error in Example 6. - Fixed bug 928 - triclopsSetImage16Buffer() always fails. Triclops 3.1 Beta 3 - Fixed the ROI Invalid ROI bug that occured when a ROI is too close to the edge of the image Triclops 3.1 Beta 2 - Several small bug fixes. - Implemented support for 2-camera vertical device. Triclops 3.1 Beta 1 - Upping release to "beta" status. Triclops 3.1 Alpha 1 - Minor bug fixes. Triclops 3.1 Alpha 1 - Major changes to internal handling of camera devices and configuration file parsing. - Detection of 2-cam stereo devices. see triclopsGetDeviceConfiguration(). - TriclopsBool is now typedef int instead of typedef char. =============================================================================== Triclops SDK 3.0 Triclops 3.0 Beta 2 - Minor bug fixes in SDK examples. Triclops 3.0 Beta 1 - Added faster 2-cam stereo kernel. - Fixed several minor bugs. Triclops 3.0 Alpha 4 - Fixed bug 471 - TriclopsImage3d modifications to example 3. - Fixed bug 325 - GCC version bugs - Fixed bug 226 - Use new GCC version. - Fixed bug 458 - Bad assert in triclopsRectifyPackedColorImage(). - Fixed bug 251 & 468 - Memory leak in context creation. =============================================================================== Triclops SDK 2.5 Feature Enhancements + triclopsDemo program has been removed. It is replaced by a much improved digiclopsDemo that is shipped with the Digiclops distribution + improvements to color rectification functions triclopsRectifyColorImage() and triclopsRectifyPackedColorImage() have been changed to accept a TriclopsCamera identifier. This lets Color Digiclops users rectify any of the three color images. + multi-thread capability added The Triclops library has been modified so that multiple TriclopsContexts can exist in the same thread space. The modifications should also allow a single TriclopsContext to be used in multiple threads. However! This functionality has not been rigorously tested.