lessthanoptimal / boofcv

Fast computer vision library for SFM, calibration, fiducials, tracking, image processing, and more.

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Table of Contents

• Introduction
  • Cloning Repository
  • Quick Start
  • Gradle and Maven
• Building from Source
• Dependencies
• Help/Contact

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Introduction

BoofCV is an open source real-time computer vision library written entirely in Java and released under the Apache License 2.0. Functionality includes low-level image processing, camera calibration, feature detection/tracking, structure-from-motion, classification, and recognition.

• Project Webpage
• Message Board
• Bug Reports
• Repository

Cloning GIT Repository

The bleeding edge source code can be obtained by cloning the git repository.

git clone -b SNAPSHOT --recursive https://github.com/lessthanoptimal/BoofCV.git boofcv

Is the data directory empty? That's because you didn't follow instructions and skipped --recursive. Fix that by doing the following.

cd boofcv
git submodule update --init --recursive

Quick Start Examples and Demonstrations

To run BoofCV you need Java 11 or newer and any free version will work, e.g. Zulu. To build BoofCV, just let the Gradle script handle everything. It will automatically download what it needs and ignore your local JDK if it's not compatible.

cd boofcv
git clean -fd main # Removes stale autogenerated code
./gradlew autogenerate
./gradlew examplesJar
java -jar examples/examples.jar
./gradlew demonstrationsJar
java -jar demonstrations/demonstrations.jar

All the code for examples and demonstrations is in boofcv/examples and boofcv/demonstrations. Example code is intended easy to understand, so look there first.

Click HERE for instruction on building and running Applications. There you can calibrate cameras, create QR codes, batch scan for QR codes, batch downsample images, ... etc.

Maven Central Repository

BoofCV is on Maven Central and can be easily added to your favorite build systems; Maven, Gradle, ... etc. It's divided up into many modules, but most people will just need 'boofcv-core'. Additional modules are listed below for GUI and IO components. To include it in a Gradle project add the following to your dependencies:

For Gradle projects:

dependencies {
    api(group: 'org.boofcv', name: 'boofcv-core', version: '1.1.3')
}

Here are a list of the most commonly used modules and what they are for:

Name	Description
boofcv-core	All the core libraries without any of the integration modules listed below
boofcv-android	Useful functions for working inside of Android devices.
boofcv-ffmpeg	javacpp-presets their ffmpeg wrapper is used for reading video files.
boofcv-javacv	JavaCV is a wrapper around OpenCV mainly for file IO.
boofcv-jcodec	JCodec is a pure Java video reader/writer.
boofcv-kotlin	Kotlin extensions which take advantage of Kotlin's unique features.
boofcv-pdf	Needed to render fiduals as PDF documents
boofcv-swing	Visualization using Java Swing. Required for examples and demonstrations.
boofcv-WebcamCapture	A few functions that make WebcamCapture even easier to use.

Directories

Directory	Description
applications/	Helpful applications
data/	Directory containing optional data used by applets and examples.
demonstrations/	Demonstration code which typically lets experiment by changing parameters in real-time
examples/	Set of example code designed to be easy to read and understand.
integration/	Contains code which allows BoofCV to be easily integrated with 3rd party libraries. Primary for video input/output.
main/	Contains the source code for BoofCV

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Building from Source

Building and installing BoofCV into your local Maven repository is easy[1] using the gradlew script:

cd boofcv
git clean -fd main                # Removes stale autogenerated code
./gradlew autogenerate            # Creates auto generated files
./gradlew publishToMavenLocal     # Installs it into the local maven repository 

If you wish to have jars instead, the following commands are provided.

./gradlew oneJarBin               # Builds a single jar with all of BoofCV in it
./gradlew createLibraryDirectory  # Puts all jars and dependencies into boofcv/library
./gradlew alljavadoc              # Combines all JavaDoc from all sub-projects into a single set

[1] A couple of the integration submodules have a custom build process that can't be performed by Gradle. The script is smart enough to ignore modules and tell you that it is doing so if you haven't configured it yet.

IntelliJ

IntelliJ is the recommended IDE for use with BoofCV. With IntelliJ you can directly import the Gradle project.

1. File->Project From Existing Sources
2. Select your local "boofcv" directory
3. Confirm that you wish to import the Gradle project

Eclipse

Similar to IntelliJ, you can now import Gradle projects like BoofCV using the Buildship tooling. Instructions

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Dependencies

Core BoofCV modules depends on the following libraries

• args4j
• EJML
• GeoRegression
• DDogleg
• DeepBoof

The following is required for unit tests

• JUnit

Code from the following libraries has been integrated into BoofCV

• General Purpose FFT by Takuya Ooura
  • Java port by Piotr Wendykier with modifications by Peter Abeles to recycle memory.

The optional sub-projects in integration also have several dependencies. See those sub-projects for a list of their dependencies.

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Contact

For questions or comments about BoofCV please use the message board. Only post a bug report after doing some due diligence to make sure it is really a bug and that it has not already been reported.

Message Board

boofcv's Issues

Check to see if HSV, XYZ conversion is correct. Producing different results.

From Bill Ross [email protected]:

BoofCV RGB->HSV conversion agrees with http://www.rapidtables.com/convert/color/rgb-to-hsv.htm

      double[] hsv = new double[3];

      ColorHsv.rgbToHsv(rr, gg, bb, hsv);

      System.out.println("hsv   " + hsv[0] + " " + hsv[1] + " " + hsv[2]);

Back to XYZ, from here http://colormine.org/convert/rgb-to-xyz
for [1 20 30] I get the same as easyrgb, xyz = 0.4970170548743872 0.600502213773958 1.3180083206339976

So that might indicate a bug in ColorXyz.srgbToXyz(). Looking at the code, the matrix factors agree with http://www.brucelindbloom.com/index.html?Eqn_RGB_XYZ_Matrix.html for sRGB/D65 to 3 or 4 figures.

Looking at the conversion code here: http://www.easyrgb.com/index.php?X=MATH&H=02#text2

The factors are the same as yours and Lindbloom's site, but other conditional math gets done before the matrix multiplication- this is the missing link.

ConvertBufferedImage class doesn't initialize ImageBase.imageType

The ConvertBufferedImage class uses the default constructors of the various ImageBase implementors. It then sets the various fields directly before returning its results.

Unfortunately the imageType field is not initialized by any of the methods.

This means that the returned images cannot be used by for example the new FDistort class.

The following is an example of a operation that cannot be applied to the returned images:

        new FDistort(found, output).interpNN().scale().apply();

TemplateMatching: support images wider or taller than 16k pixels

Which translates to, use Point2D_I32 instead of Point2D_I16. Also it should check the image width/height that it is within the bounds of the supported size. When I tried to use a 32k+ wide image, i was getting out-of-bounds errors for when it found a template at around -32k; I then figured out it was because the X greater than 2^15 was getting wrapped around in the signed 16-bit int.

ConfigSquare cols and rows should be specified correct

For calibration with square patterns you are using a approach of specifying rows and columns including white space (left over from chess pattern I believe). This make the algorithm only work with patterns of uneven squares and also hard to use. Instead I suggest to use the real square amount in ConfigSquare and all its dependencies like for example PlanarDetectorSquareGrid:

-       detect = new DetectSquareGridFiducial(config.numRows/2+1,config.numCols/2+1,
+       detect = new DetectSquareGridFiducial(config.numRows,config.numCols,

scale space feature intensity corrupt for ImageUInt8

When running IntensityFeatureScaleSpaceApp and setting it to use ImageUInt8 images intensity images become corrupt for larger scale spaces. Most likely due to a buffer overflow error

JavaDoc error in ThresholdImageOps

The JavaDoc of the ThresholdImageOps methods has the following:

If the down flag is set to true then the inlier set
is defined as <= to the the threshold and >= if true.

The second true should be false.

GThresholdImageOps.hysteresisLabel should return int

boofcv.alg.filter.binary.GThresholdImageOps#hysteresisLabel4
and boofcv.alg.filter.binary.GThresholdImageOps#hysteresisLabel8
should return the number of blobs found.

ConvertBufferedImage.convertTo fails for alpha band images

BoofCV 0.23

I have a PNG which is decoded as TYPE_4BYTE_ABGR, as soon as I want to convert to Planar it fails:

java.lang.IllegalArgumentException: Unequal number of bands src = 4 dst = 3
at boofcv.io.image.ConvertRaster.multToBuffered_U8(ConvertRaster.java:1599)
at boofcv.io.image.ConvertBufferedImage.convertTo_U8(ConvertBufferedImage.java:736)
at boofcv.io.image.ConvertBufferedImage.convertTo(ConvertBufferedImage.java:606)

convolution kernel order

• When convolving kernels across an image they are done in the wrong order.
• Minimal impact since almost all kernels used in computer vision are symmetric
• Needs to be fixed and checked to make sure performance does not degrade

ConvertBufferedImage.convertTo creates wrong output

When not using an explicit image type like BufferedImage.TYPE_3BYTE_BGR the colors of the created output are wrong. Following code interchanges red by blue:

      MultiSpectral srcImg = ConvertBufferedImage.convertFromMulti(imageOrigin, null, ImageFloat32.class);
      try {
         ImageIO.write(ConvertBufferedImage.convertTo(srcImg, null), "png", new File("converted.png"));
      } catch (IOException ignored) {
      }

ejml version 0.23 was released

0.23-SNAPSHOT does not exist anymore.

Compile errors with methods getFitQuality() and getModelParameters()

Hi! Most examples works OK, but I have some compilation errors with 2 methods (getFitQuality() and getModelParameters() ). Eclipse shows error like these:

The method getFitQuality() is undefined for the type LeastMedianOfSquares<ScaleTranslateRotate2D,AssociatedPair> SparseFlowObjectTracker.java /BoofCV/src/boofcv/alg/tracker/sfot line 127 Java Problem
.....
The method getModelParameters() is undefined for the type LeastMedianOfSquares<ScaleTranslate2D,AssociatedPair> TldAdjustRegion.java /BoofCV/src/boofcv/alg/tracker/tld line 74 Java Problem

I'm using the last sources commited that include FastQueue moved to DDogleg

Any help please?

Thanks in advance,
Juan Pablo

DetectEdgeContour interface should support ordered pixels

DetectEdgeContour is a good base of detecting structures in images. The problem is that currently the returned pixel list is not ordered. But the ordering is an important structure information and helpful for further extraction computation like line extraction.

A NullPointerException is thrown when the ImplOrientationImageAverageIntegral constructor is invoked

The following NullPointerException is thrown when the ImplOrientationImageAverageIntegral constructor is invoked:

java.lang.NullPointerException
    at boofcv.alg.feature.orientation.impl.ImplOrientationImageAverageIntegral.setObjectRadius(ImplOrientationImageAverageIntegral.java:91)
    at boofcv.alg.feature.orientation.OrientationIntegralBase.<init>(OrientationIntegralBase.java:87)
    at boofcv.alg.feature.orientation.impl.ImplOrientationImageAverageIntegral.<init>(ImplOrientationImageAverageIntegral.java:56)
    at boofcv.alg.feature.orientation.impl.ImplOrientationImageAverageIntegralTest.testConstructor(ImplOrientationImageAverageIntegralTest.java:10)
[...]

This is caused by the base class OrientationIntegralBase calling the setObjectRadius(double radius) template method before the ImplOrientationImageAverageIntegral.sampler field have been initialized.

The following unit test will trigger the exception.

package boofcv.alg.feature.orientation.impl;

import boofcv.struct.image.ImageFloat32;
import boofcv.struct.sparse.GradientValue_F32;
import org.junit.Test;

public class ImplOrientationImageAverageIntegralTest {
    @Test
    public void testConstructor() {
        new ImplOrientationImageAverageIntegral<ImageFloat32, GradientValue_F32>(0.5, 6, 1, 4, 0, ImageFloat32.class);
    }
}

NonMaxCandidates should also work for rectangles

Currently the NonMaxCandidates are working with a radius, so width and height are always equal, it would be nice to be able to specify width and height of the interest separately.

Exception in Surf description

Hello,

I am trying to run your code for point association with surf and I got an ArrayOutOfBoundsEcxeption at:

FATAL EXCEPTION: main
java.lang.ArrayIndexOutOfBoundsException
at boofcv.alg.feature.describe.impl.ImplSurfDescribeOps.gradientInner(ImplSurfDescribeOps.java:149)
at boofcv.alg.feature.describe.SurfDescribeOps.gradient_noborder(SurfDescribeOps.java:92)
at boofcv.alg.feature.orientation.impl.ImplOrientationAverageIntegral_I32.compute(ImplOrientationAverageIntegral_I32.java:69)
at boofcv.abst.feature.describe.WrapDescribeSurf.process(WrapDescribeSurf.java:87)
at com.nobm.stereocamera.InterestPointAssociator.describeImage(InterestPointAssociator.java:151)

with indexes:

length = 460800
r = 6 w = 13
indexSrc1 452677
indexSrc2 456517
indexSrc3 457157
indexSrc4 460997

image size is 640X720.

It seems that the check for bounds was successful while it actually isn't.

Any help will be much appreciated.

Thanks,
Oleg.

Error:(21, 34) java: package georegression.struct.point does not exist

i can not download georegression version 9.0 , i can not run this project

Error:(21, 34) java: package georegression.struct.point does not exist

Error:(23, 27) java: package org.ddogleg.sorting does not exist

Template matching. Filtering out false positives

Hi, I am new to BoofCV. I use the Template Matching function in BoofCV, but i have a problem.
When my image not contain the template the result list return always one result, It correct?.

Video Mosaic Example

I try to run video mosaic example, image not stitching, just stabilization, i'm use netbeans 8 and JDK 8

Unable to load tiff files

BoofCV fails to load tiff images in MediaManager.
I think it is related to a bug in Java/ImageIO not returning a valid image type when loading tiff files (it is 0). In DefaultMediaManager there is the member openImage which needs the type to reconstruct an image.
This seems to be a hack already, so I have an additional hack for it:
b.getType() != 0 ? b.getType() : (b.getSampleModel().getNumBands() > 1 ? BufferedImage.TYPE_BYTE_RGB : BufferedImage.TYPE_BYTE_GRAY)

The hack above might break special image color formats which I am not aware of, but works for images I get from GigE sources (color and monochrome). Probably TYPE_BYTE_RGB is to much and an other type might appropriate as default.

The detailed exception:

java.lang.IllegalArgumentException: Unknown image type 0
at java.awt.image.BufferedImage.(BufferedImage.java:509)
at boofcv.io.wrapper.DefaultMediaManager.openImage(DefaultMediaManager.java:74)
at test.BoofLoader.main(BoofLoader.java:19)

Show Source Code in Example Application + Other

For this task several simple usability enhancements are requested for the example and demonstration applications, which are written using Swing and share a common code base. None of the requested improvements are technically difficult for those familiar with Swing and you’re encouraged to ask questions if not sure how to complete a task.

For details see the Google Doc

For amount of bounty see http://boofcv.org/index.php?title=Bounties

Add Gradle wrapper

To simplify build procedure who has no build tools, I recommend to add Gradle wrapper to Git repo.

FancyInterestPointRender.addString is a No-Op

The addString method in FancyInterestPointRender performs a no-op. Should this method be deprecated?

BoofCV/main/visualize/src/boofcv/gui/feature/FancyInterestPointRender.java

Lines 75 to 81 in 335fa94

	public synchronized void addString( int x , int y , String value ) {
	VString s = new VString();
	s.x = x;
	s.y = y;
	s.value = value;
	}

endless loop in canny edge detector

Hi Peter

When I feed an Image into the canny edge detector which is solid black, the process method does not seem to ever return.

example:
BufferedImage solidBlack = ImageIO.read(new File("black.png"); //loads solid black image
ImageUInt8 gray = ConvertBufferedImage.convertFrom(solidBlack , (ImageUInt8) null);
CannyEdge<ImageUInt8, ImageSInt16> canny = FactoryEdgeDetectors.canny(2, false, true, ImageUInt8.class, ImageSInt16.class);
float THRESHOLD_LOW = 0.075f, THRESHOLD_HIGH = 0.3f;
canny.process(gray, THRESHOLD_LOW, THRESHOLD_HIGH, gray); //<-- never returns

I solved this with a workaround which checks first if the image is entirely black:
public static boolean isSolidBlack(ImageUInt8 img){
for(byte b : img.data){
if(b != 0){
return false;
}
}
return true;
}

How to save full mosaic image

Hi, I am new to BoofCV. Please excuse my bad english.

I use your algorithm for create a mosaic from a BufferedImage sequence using StitchingFromMotion2D.(using the example ExampleVideoMosaic.java).
I would like to know. Is it possible to save the resulting full image, which includes use a all list of BufferedImage. Not the GUI that displays the time when the procedure was initiated save photos ..like this

Planar foo = stitch.getStitchedImage ();
UtilItageIO.saveImage (ConvertBufferedImage.convertTo_F32 (foo, null, true), "stitched.png");

And if It's possible how to do it?
Thanks in advance. Greatly appreciate if you could help.

Best Regards,

Where is boofcv.alg.color.ColorRgb?

I can't find this package according to this example

Wavelet Transform applied to an BufferedImage

Hello!
First i would like to congratulate the lib, it helped me a lot!
But I'm having a trouble using wavelet transform in an image Java. I tried specifically the Haar and Daubechies transform.
Could you give a code example of how doing it to a bufferedImage, since the reading to writing?

Thank you!

Ignore transparency on Template MAtching

Add a parameter to the TemplteMacher that
allows ti to ignore alpha channel pixels on the
template while searching for matches on the image.

ImageBase is not serializable since its member ImageType does not implement Serializable

Serialization of the boofcv.struct.image.ImageBase class throws an java.io.NotSerializableException exception since it's member imageType of type boofcv.struct.image.ImageType is not serializable.

package org.ddogleg.nn does not exist

Hi Peter, Thank you so much for this Lib. I am trying to compile it and found that I am getting errors like:

BoofCV/main/feature/src/boofcv/factory/feature/associate/FactoryAssociation.java:25: package org.ddogleg.nn does not exist

[javac] import org.ddogleg.nn.NearestNeighbor

I searched for classes in ddogleg, but couldn't find the nn package, or NearestNeighnor class.

Many thanks!

Sincerely,
Wei

FactoryOrientation.sift method doesn't accept null pointer as a configuration

The FactoryOrientation.sift factory method doesn't accept a null pointer as the configuration. This looks like a oversight when comparing it to the FactoryOrientationAlgs.average_iiand FactoryOrientationAlgs.sliding_ii methods. Both of these methods will use a default configuration if a null pointer is passed. The boofcv.alg.feature.orientation.BenchmarkOrientation test expects the factory method to accept a null pointer and fails to run because of this.

ConvertBufferedImage.extractInterlacedInt8 sets a wrong stride

The ConvertBufferedImage.extractInterlacedInt8 uses the width of the input as the stride. The stride of the input raster can be found using the getScanlineStride() method.

In addition shouldn't this method be called extractInterleavedInt8 ?

Biorthogonal Daub Wavelet Bug?

Biorthogonal-5 passes all test but has very poor denoising and appears much brighter in wavelet transform than other coefficients.

• Is this a bug?
• If so how to fix it?

sun.awt.image.ByteInterleavedRaster gone in Java 9?

First of all, thanks for this library!

I'm getting this with Java 9 early access:

Exception in thread "main" java.lang.IllegalAccessError: class boofcv.io.image.ConvertBufferedImage (in unnamed module @0x53ce1329) cannot access class sun.awt.image.ByteInterleavedRaster (in module java.desktop) because module java.desktop does not export sun.awt.image to unnamed module @0x53ce1329
	at boofcv.io.image.ConvertBufferedImage.convertFrom(ConvertBufferedImage.java:389)
	at boofcv.io.image.ConvertBufferedImage.convertFromSingle(ConvertBufferedImage.java:295)

can not download georegression v9.0

I use georegression 8.0 on gradle like

compile group: 'org.georegression', name: 'georegression', version: '0.8'

i can download this lib but can not run, because ddogleg have not output.setTo Method , just have output.set i use ddogleg v0.7

Changed method name in VisualizeBinaryData?

Hi,

first of all: Thanks for the great library!

In the Canny Edge Example (http://boofcv.org/index.php?title=Example_Canny_Edge), the example code uses the method VisualizeBinaryData.renderExternal, which I found neither in the 0.26 release nor in the snapshot. I guess it was changed to VisualizeBinaryData.render at some point.

Template Matching issue

Hello,

I am working on the boofcv template matching feature, so it works well in case when my image has a template. But when my image does not contain any template still it return a result match found. So my question is if the image does not contain the template how can it find a match for it.

Thanks and Regards.

Converting BufferedImage.getSubimage() to BoofCV Image classes does not work

It looks like this is most likely a result of the various ConvertRaster methods not using the raster offsets when copying data out of the arrays.

Null Pointer Exception in PointTrackerKltPyramid

Hey Peter. Great work on this awesome library. I was using the PointTrackerKltPyramid and got a null pointer exception.

I read the source code, and it looks like you missed an initialization in one of the constructors.

          public PointTrackerKltPyramid(KltConfig config,
                              int templateRadius ,
                              PyramidDiscrete<I> pyramid,
                              ImageGradient<I, D> gradient,
                              InterpolateRectangle<I> interpInput,
                              InterpolateRectangle<D> interpDeriv,
                              Class<D> derivType ) {

    this.config = config;
    this.templateRadius = templateRadius;
    this.gradient = gradient;
    this.basePyramid = pyramid;

    KltTracker<I, D> klt = new KltTracker<I, D>(interpInput, interpDeriv,config);
    tracker = new PyramidKltTracker<I, D>(klt);
}

You didn't initialize the derivType member variable. The fixed constructor will be:

          public PointTrackerKltPyramid(KltConfig config,
                              int templateRadius ,
                              PyramidDiscrete<I> pyramid,
                              ImageGradient<I, D> gradient,
                              InterpolateRectangle<I> interpInput,
                              InterpolateRectangle<D> interpDeriv,
                              Class<D> derivType ) {

    this.config = config;
    this.templateRadius = templateRadius;
    this.gradient = gradient;
    this.basePyramid = pyramid;

    //// The added line
    this.derivType = derivType;

    KltTracker<I, D> klt = new KltTracker<I, D>(interpInput, interpDeriv,config);
    tracker = new PyramidKltTracker<I, D>(klt);
}

xuggler cannot be resolved

Here is what I get:
xuggle#xuggle-xuggler;5.4: not found

ExampleSegmentSuperpixels Fails for FH04 for Attached Image

Example file https://github.com/lessthanoptimal/BoofCV/blob/master/examples/src/boofcv/examples/segmentation/ExampleSegmentSuperpixels.java for boofcv v0.19 fails with

java.lang.IllegalArgumentException: Expected 4 bands in dst not 3
    at boofcv.io.image.ConvertBufferedImage.convertFromMulti(ConvertBufferedImage.java:400)
    at boofcv.io.image.ConvertBufferedImage.convertFrom(ConvertBufferedImage.java:201)

when using the below rectangle image for Fh04

How can this be solved?

[minor] Latest tagged version != actual version

I spotted a minor discrepancy in version # and git tags.

The latest tagged version (in github) is v0.14.1. However, on maven central, and in this project's README, the latest version is 0.24.1. I believe that the v0.14.1 tag should be renamed to 0.24.1.

QuadPoseEstimator

getSideLength does not seem to exist within georegression nor elsewhere (lines 168 and 169 of QuadPoseEstimator.java).

Is there a replacement, or a simple way to get the distance between two corners of a Quadrilateral_F64?

Converting to HSV and back to Multispectral

Hello,

converting a BufferedImage to Multispectral, then HSV and back works, but i think there is something wrong with it. After conversion i got some strange magenta contours in the destination image without doing any modification in the image:

        BufferedImage buffered = UtilImageIO.loadImage("source.jpg");
        MultiSpectral input = ConvertBufferedImage.convertFromMulti(buffered, null, true, ImageFloat32.class);
        MultiSpectral hsv = new MultiSpectral(ImageFloat32.class, input.width, input.height, 3);
        ColorHsv.rgbToHsv_F32(input, hsv);
        ColorHsv.hsvToRgb_F32(hsv, input);
        buffered = ConvertBufferedImage.convertTo_F32(input, null, true);
        UtilImageIO.saveImage(buffered, "destination.jpg");

Fiducial post script files unreadable in MacOS

Michele Zannoni says:

Hi, I've got some problem with the CreateFiducialSquareImage process. The result file fiducial.ps is not standard and I can't open on OSX with adobe o any system software.
I've opened the file with a text editor and there was the data, but I can't open it with any other software.

Not able to run examples from IDE

Hello,

Just imported project from git with IntelliJ Idea and got compilation error.

FactoryWaveletDaub class uses org.ejml.interfaces.linsol.LinearSolver class which is not present in

      <dependency>
        <groupId>com.googlecode.efficient-java-matrix-library</groupId>
        <artifactId>ejml</artifactId>
        <version>0.24</version>
      </dependency>

While later ejml jar version has it. Is it wrong dependency?

ConvertBufferedImage does not always return gray images for SingleBands

In ConvertBufferedImages.checkInputs there a gray scale image is only returned when the src image type is ImageInt16. But it should return a gray scale not by type but by src band width.

[Feature Request] ArUco markers in BoofCV

This is an issue created for a Bounty. The bounty is for adding the capability of reading Aruco's makers in BoofCV. BoofCV already has much of the code required to read ArUco markers, but needs the ability to read their binary format and create their dictionaries. All of which are documented in Aruco papers.

• Project Details
• Award Amount

Exception in VisualizeBinaryData.render relating to colors

Hi,
the method render(List contours , int colors[] , BufferedImage out) assumes that the provided contours are numbered from 1 to contours.size().
This results in an ArrayIndexOutOfBoundsException if this is not the case:

List<Contour> contours = new ArrayList<>();
		
Contour c = new Contour();
c.id = 5;
contours.add(c);
	
BufferedImage image = new BufferedImage(512, 512,BufferedImage.TYPE_INT_RGB);
VisualizeBinaryData.render(contours, (int[]) null, image);

Is this intended behavior? If not, I propose similar behavior to two of the renderContours methods:
Instead of using

int color = colors[c.id-1];

to look up the color increment the index:

int index = 0;
  for( Contour c : contours ) {
    int color = colorExternal[index++];
    ...

some implementations of InterestPointDetector have unexpected behavior

the doc for InterestPointDetector.getOrientation() states, "...If orientation is not supported by the detector then 0 is always returned." However, some InterestPointDetector wrappers throw an IllegalArgumentException if this method is called. The offending classes are:
boofcv.abst.feature.detect.interest.WrapFLPtoInterestPoint,
boofcv.abst.feature.detect.interest.WrapFLSStoInterestPoint,
boofcv.abst.feature.detect.interest.WrapFPtoInterestPoint,
and boofcv.abst.feature.detect.interest.WrapFSStoInterestPoint.