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From: Amitha Perera <perera@cs...>  20041130 22:44:23

On Tue 30 Nov 2004, Sancar Adali wrote: > I've recently encountered an error in vgui where if I use the menu > items in the popup menus a few times (I'm not going to detail about > the items , because they seem to be specific to brown university > libraries), all the items in the popup menu becomes disabled(grayed > out). And do you know why it does that? Unfortunately, I don't have enough MFC and GTK knowledge to determine when and why a menu gets grayed out. I'm pretty sure that vgui does not intentionally wrap that functionality. Amitha. 
From: Sancar Adali <sancar_adali@br...>  20041130 20:46:33

Hi, I've recently encountered an error in vgui where if I use the menu = items in the popup menus a few times (I'm not going to detail about the = items , because they seem to be specific to brown university libraries), = all the items in the popup menu becomes disabled(grayed out).=20 Sancar Adali 
From: Swati Setty <swati_setty@mi...>  20041130 06:30:15

=  Disclaimer =  "This message(including attachment if any)is confidential and may be = privileged.Before opening attachments please check them for viruses and defects.MindTree Consulting Private Limited = (MindTree)will not be responsible for any viruses or defects or any forwarded attachments emanating either from within MindTree or = outside.If you have received this message by mistake please notify the = sender by return email and delete this message from your system. Any = unauthorized use or dissemination of this message in whole or in part is = strictly prohibited. Please note that emails are susceptible to change = and MindTree shall not be liable for any improper, untimely or = incomplete transmission." =  
From: Ian Scott <ian.m.scott@st...>  20041129 11:58:09

Swati Setty wrote: > which class i can use for creating n dimensional image??? We don't have one. I have had a few discussions about basing our 2D and 3D images (vil_image_view<T> and vil3d_image_view<T>) on a vil_image_base<T,int n> templated class, but nothing concrete ever came of it. If you want to implement such a thing, I can give you some hints. Ian. 
From: Swati Setty <swati_setty@mi...>  20041129 03:15:40

=  Disclaimer =  "This message(including attachment if any)is confidential and may be = privileged.Before opening attachments please check them for viruses and defects.MindTree Consulting Private Limited = (MindTree)will not be responsible for any viruses or defects or any forwarded attachments emanating either from within MindTree or = outside.If you have received this message by mistake please notify the = sender by return email and delete this message from your system. Any = unauthorized use or dissemination of this message in whole or in part is = strictly prohibited. Please note that emails are susceptible to change = and MindTree shall not be liable for any improper, untimely or = incomplete transmission." =  
From: Swati Setty <swati_setty@mi...>  20041125 05:28:18

aGVsbG8gdnhsLA0KICBJIGFtIHVzaW5nIGdrbGwgbGlicmFyaWVzIGZvciBLTFQgLg0KQnV0IGl0 IGlzIGdpdmluZyBtZSB1bnJlc29sdmVkIGV4dGVybmFsIHN5bWJvbCBhcyBmb2xsb3dzLi4uLi4u Li4uLi4uLi4NCnVucmVzb2x2ZWQgZXh0ZXJuYWwgc3ltYm9sICIgdmJsX3NtYXJ0X3B0cjxjbGFz cyBna2xsX211bHRpX3ZpZXdfZGF0YTxjbGFzcw0KdmJsX3NtYXJ0X3B0cjxjbGFzcyB2dG9sX3Zl cnRlcl8yZD4+Ig0KY2FuIGFueSBvbmUgaGVscCBtZSB0byBzb3ZlIHRoaXMgZXJyb3I/Pw0KVGhh bmtzIGluIGFkdmFuY2UgDQpTd2F0aQ0KIA0KIA0K 
From: Amitha Perera <perera@cs...>  20041123 14:37:38

On Tue 23 Nov 2004, Swati Setty wrote: > But i am unable to get the vertices from that vcl_vector<vtol_vertex_2d_ptr>. Unless I'm missing something, it should be as simple as vec[i]>x() and vec[i]>y(), where vec is the vcl_vector<vtol_vertex_2d_ptr>. Amitha. 
From: Swati Setty <swati_setty@mi...>  20041123 07:28:18

SGVsbG8gdnhsLA0KICBpIGFtIHVzaW5nIEthbmFkZSBMdWNhcyB0b21hc2kgZmVhdHVyZSB0cmFj a2VyIHRvIHRyYWNrIHRoZSBpbWFnZXMuDQppIGFtIGdldHRpbmcgdGhlIA0KDQp2Z2VsX211bHRp X3ZpZXdfZGF0YV92ZXJ0ZXhfc3B0ciB1c2luZyB3aGljaCBpIGNhbiBnZXQgdGhlIHZjbF92ZWN0 b3INCjx2dG9sX3ZlcnRleF8yZF9wdHI+DQoNCkJ1dCBpIGFtIHVuYWJsZSB0byBnZXQgdGhlIHZl cnRpY2VzIGZyb20gdGhhdCB2Y2xfdmVjdG9yPHZ0b2xfdmVydGV4XzJkX3B0cj4uDQoNCkhvdyBj YW4gaSBkbyB0aGF0Pz8gY2FuIGFueSBvbmUgaGVscCBtZS4NCg0KVGhhbmtzIGluIGFkdmFuY2Uu DQoNClN3YXRpIA0KDQogDQo= 
From: Gehua Yang <yangg2@rp...>  20041119 18:27:24

Recall that LM takes a vector of residuals BEFORE squaring. In this case, the function shall look like: fx[4*i] = x1[i][0]x1_h[i][0]; fx[4*i+1] = x1[i][1]x1_h[i][1]; fx[4*i+2] = x2[i][0]x2_h[i][0]; fx[4*i+3] = x2[i][1]x2_h[i][1]; > As for the number of residuals, I still do not quite > understand why it's 4n. Since each point > correspondence gives 2 residuals, i.e the squared > distances in 2 images are d(x_i, xhat_i)^2 and > d(xpri_i, xhatpri_i)^2. > it ought to be 2n. > > below is the code segment of function f in my class > derived from vnl_least_squares_function: > > void XXX:f(const vnl_vector<double>& x, > vnl_vector<double>& fx) > { > ...... > for ( int i = 0; i < n; i++ ) { > ... > fx[2*i] = squared_distance(x1[i], x1_h[i]); > fx[2*i+1] = squared_distance(x2[i], x2_h[i]); > } > } > > I will be very grateful if you would be patient to > give me a further explaination. > > Marc. > 
From: Ian Scott <ian.m.scott@st...>  20041119 17:03:20

Swati Setty wrote: > hello vxl, > i am trying to create the > vimt_gaussian_pyramid_builder_2d object with int datatype. > > But it is giving me unresolved external symbol vil_gauss_reduce_121<int> & vil_gauss_reduce<int> There is no exiting template instantiation for vil_gauss_reduce<int>, but it is easy to create your own. Create, compile and link in the following source file: #include <vxl_config.h> #include <vil/algo/vil_gauss_reduce.txx> VIL_GAUSS_REDUCE_INSTANTIATE(vxl_int_32 ); If you don't want to put it in your own project, put it in a file called $VXLSRC/core/vil/algo/Templates/vil_gauss_reduce+int32.cxx CMake should automatically add it to the vil_algo library when you next rebuild vxl. Ian. 
From: Amitha Perera <perera@cs...>  20041119 14:44:01

On Thu 18 Nov 2004, Marc Anderson wrote: > Next, what does BUILD_SHARED_LIBS mean? It means build shared (.so, .dll) instead of static (.a, .lib) libraries. It only works under Unix for now, because building DLLs under Windows requires either Microsoft extensions or generating an export file, which is not easy to do automatically. Amitha. 
From: Xiaowei Li <nemesis@bi...>  20041119 07:22:25

Hi, Marc I think your code would be modified as the follow which yields 4n residuals: void XXX:f(const vnl_vector<double>& x, vnl_vector<double>& fx) { ...... for ( int i = 0; i < n; i++ ) { ... fx[4*i] = (x1[i].first, x1_h[i].first)^2; fx[4*i+1] = (x1[i].second, x1_h[i].second)^2; fx[4*i+2] = (x2[i].first, x2_h[i].first)^2; fx[4*i+3] = (x2[i].second, x2_h[i].second)^2; } } in which,x1[i].first refers to the "x" element of a 2D point,and x1[i].second the "y" element. Shawrie Lee regards. 
From: Marc Anderson <yulq2004@ya...>  20041119 03:34:33

Hi all, When I build vxl1.0beta, there are some stuff that is not there. So where can I get them. Next, what does BUILD_SHARED_LIBS mean? Thanks Marc.  Do you Yahoo!? The allnew My Yahoo! Get yours free! 
From: Marc Anderson <yulq2004@ya...>  20041119 01:44:01

Gehua, Thanks for your reply! As I use the second edition of H&Z book, the algorithm on page 114 is 4.3. As for the number of residuals, I still do not quite understand why it's 4n. Since each point correspondence gives 2 residuals, i.e the squared distances in 2 images are d(x_i, xhat_i)^2 and d(xpri_i, xhatpri_i)^2. it ought to be 2n. below is the code segment of function f in my class derived from vnl_least_squares_function: void XXX:f(const vnl_vector<double>& x, vnl_vector<double>& fx) { ...... for ( int i = 0; i < n; i++ ) { ... fx[2*i] = squared_distance(x1[i], x1_h[i]); fx[2*i+1] = squared_distance(x2[i], x2_h[i]); } } I will be very grateful if you would be patient to give me a further explaination. Marc.  Gehua Yang <yangg2@...> wrote: > First of all, Page 114, or Algorithm 3.7 is the Gold > Standard Algorithm for > estimating an AFFINE transformation, not homography. > > If homography is to be estimated, refer to Algorithm > 3.3 on Page 98. There > are two choices: Sampson error or Gold Standard > error. For Sampson error, > there are only 9 parameters(or one can choose other > parameterization). As > for Gold Standard error, there are 2n+9 variables. > But there are 4n > residuals: > sum d(x_i, xhat_i)^2 + d(xpri_i, xhatpri_i)^2 > Recall that LM takes a vector of residuals before > squaring. for each d(.) > function, there are two residuals. Another way to > look at it is that each > ideal point x hat brings in two parameters, but > provides 4 constraints. > > > Gehua > >  Original Message  > From: Marc Anderson > To: vxlusers@... > Sent: Tuesday, November 16, 2004 9:58 PM > Subject: [Vxlusers] Premise of > vnl_levenberg_marquardt hold back Gold > standard? > > > > Hi, all vxl guys! > > > The class vnl_levenberg_marquardt checks if the > number of parameters is > > less than that of residuals before carrying out > the minimization process, > > otherwise it'll returns false. This requirement > prevents the estimation of > > homography between two images using the Gold > Standard algorithm(H&Z book, > > p114), in which case the number of parameters is > 2n+9 while the number of > > residuals is n. ( where n is the number of point > correspondences ). Would > > someone get the idea to figure this issue out? > Thanks! > > __________________________________ Do you Yahoo!? Meet the allnew My Yahoo!  Try it today! http://my.yahoo.com 
From: Gehua Yang <yangg2@rp...>  20041118 18:02:02

First of all, Page 114, or Algorithm 3.7 is the Gold Standard Algorithm for estimating an AFFINE transformation, not homography. If homography is to be estimated, refer to Algorithm 3.3 on Page 98. There are two choices: Sampson error or Gold Standard error. For Sampson error, there are only 9 parameters(or one can choose other parameterization). As for Gold Standard error, there are 2n+9 variables. But there are 4n residuals: sum d(x_i, xhat_i)^2 + d(xpri_i, xhatpri_i)^2 Recall that LM takes a vector of residuals before squaring. for each d(.) function, there are two residuals. Another way to look at it is that each ideal point x hat brings in two parameters, but provides 4 constraints. Gehua  Original Message  From: Marc Anderson To: vxlusers@... Sent: Tuesday, November 16, 2004 9:58 PM Subject: [Vxlusers] Premise of vnl_levenberg_marquardt hold back Gold standard? > Hi, all vxl guys! > The class vnl_levenberg_marquardt checks if the number of parameters is > less than that of residuals before carrying out the minimization process, > otherwise it'll returns false. This requirement prevents the estimation of > homography between two images using the Gold Standard algorithm(H&Z book, > p114), in which case the number of parameters is 2n+9 while the number of > residuals is n. ( where n is the number of point correspondences ). Would > someone get the idea to figure this issue out? Thanks! 
From: Amitha Perera <perera@cs...>  20041118 15:52:05

On Wed 17 Nov 2004, Xiaowei Li wrote: > 1 All these methods, both in RPI libraries and Oxford > University Libraries, are all based on random sampling, right > ? The rpl/rrel implements both a random sampling search and a iteratively reweighted least squares search. Some objective functions, such as MUSE and RANSAC, can only be effectively minimized using random sampling because the objective functions are complex (MUSE) or discontinuous (RANSAC). Others, like MSAC, the BeatonTukey weight, and least squares, can be minimized using either approach. When both options are available, random sampling has an advantage in that it does not need an initial estimate. IRLS has an advantage that the minimum need not be defined by exactly a few data points. > 2 So, all these methods are different in residual computation and cost functions, including RANSAC itself, right? There are, conceptually, two phases to finding a robust minimum. First, you have to compute residuals. This depends on your problem. Then you run the residuals through the robust loss function, and minimize the this. If the residuals and scale are estimated the same way, RANSAC is RANSAC. (I don't know the code in mvl to comment further.) > 3 If yes, delving in the source code, the final estimate > value we get is surely a value solved from the minimal fit of > certain sample, right ? Yes. (For random sampling.) > 4 Is this estimate value reliable enough ? > It is an algebraic solution of certain equations in a > minimal fit. Though this fit must be made up from > inliers, noise still exists and the final value is > different from different minimal fits being used. There will always be an error in your estimates. They are, after all, estimates. The more samples you have, the more likely that random sampling will give an estimate close to the true value. Suppose you need n points for the minimal esteimate. The idea is that if you have m >> n samples, then it is likely that there are n of these m that have very little noise. If you find this set, you can get an estimate very close to the true value. As m gets larger, it becomes more and more likely that there are n samples with zero error; in this case, you can find the true solution. Of course, all this becomes more complicated because you can only evaluate the quality of your solution using the samples. However, as m gets larger, it becomes more and more likely that the only the true solution will minimize the error function. If you have enough samples, and your samples meet the expected noise models, the estimate should be quite good. > It will result in this: > 5 Though all the data are inliers, when we estimate certain parameters with them for many times, the final estimate value we get will be different, because we use different samples to generate the estimate value. > Is this statement right ? Yes. For a given sample set, different runs of a random sampling search will yield slightly different results. Different runs of an iterative search will generally yield the same result. However, this repeatability does not mean the iterative search gives you the "true" solution: get another sample set, and the estimates from both approaches are different. Remember that the data you have is not "truth". It is a set of noisy samples from the truth that you are trying to estimate. Therefore, any estimate will not equal truth. (At least, you cannot be certain of it.) Amitha. 
From: Swati Setty <swati_setty@mi...>  20041118 12:42:05

=  Disclaimer =  "This message(including attachment if any)is confidential and may be = privileged.Before opening attachments please check them for viruses and defects.MindTree Consulting Private Limited = (MindTree)will not be responsible for any viruses or defects or any forwarded attachments emanating either from within MindTree or = outside.If you have received this message by mistake please notify the = sender by return email and delete this message from your system. Any = unauthorized use or dissemination of this message in whole or in part is = strictly prohibited. Please note that emails are susceptible to change = and MindTree shall not be liable for any improper, untimely or = incomplete transmission." =  
From: Toon Goedeme <Toon.Goedeme@es...>  20041118 08:51:50

Hi, I'm trying tu use the KLT tracker in contrib/gel/vgel, but it keeps on creating a segmentation fault. This is how I try to use it: vgel_kl_params* kl_params=new vgel_kl_params(); m_klt=new vgel_kl(*kl_params); vgel_multi_view_data_vertex_sptr klt_matches=new vgel_multi_view_data<vtol_vertex_2d_sptr>(); m_klt>match_sequence(im1, im2, klt_matches, true); But this gives the following output: Converting image to grey scale... width: 641 height: 427 pixel type: byte Converting image to grey scale... width: 641 height: 427 pixel type: byte (KLT) Selecting the 100 best features from a 641 by 427 image... 100 features found. (KLT) Tracking 100 features in a 641 by 427 image... 39 features successfully tracked. (KLT) Attempting to replace 61 features in a 641 by 427 image... 61 features replaced. Segmentation fault Does anyone know what I am doing wrong? Thanks Toon 
From: Xiaowei Li <nemesis@bi...>  20041118 03:49:34

Hi vxl guys, I have several questions about estimate methods in VXL. 1 All these methods, both in RPI libraries and Oxford University Libraries, are all based on random sampling, right ? This point can be demonstrated in the source code, as in RPIL, there is a random sampling class, and in oxl's mvl, there exists Monte_Carlo function to achieve random sampling. 2 So, all these methods are different in residual computation and cost functions, including RANSAC itself, right? 3 If yes, delving in the source code, the final estimate value we get is surely a value solved from the minimal fit of certain sample, right ? Of course this value have the "most" number of inliers among all the data. But, 4 Is this estimate value reliable enough ? It is an algebraic solution of certain equations in a minimal fit. Though this fit must be made up from inliers, noise still exists and the final value is different from different minimal fits being used. It will result in this: 5 Though all the data are inliers, when we estimate certain parameters with them for many times, the final estimate value we get will be different, because we use different samples to generate the estimate value. Is this statement right ? Thanks in advance.;) Xiaowei Li Regards, 
From: Xiaowei Li <nemesis@bi...>  20041117 10:43:12

Hi, vxl guys, Do anyone know how to implement Gold Standard Algorithm to estimate Homography in VXL ? In this method, reprojection error is used to minimize. As a consequence, totally 2n+9 parameters would be estimated, 2n for new correponding 2D points and 9 for the homography. But, the estimation methods in VXL, as far as I found, are all based on random sampling. I don't think this will provide newly estimated 2D points. So, how can I implement this ? This is also one of the key issues in Bundle Adjustment with VXL. Thanks in advance. Regards Shawrie Lee 
From: Marc Anderson <yulq2004@ya...>  20041117 02:58:42

Hi, all vxl guys! The class vnl_levenberg_marquardt checks if the number of parameters is less than that of residuals before carrying out the minimization process, otherwise it'll returns false. This requirement prevents the estimation of homography between two images using the Gold Standard algorithm(H&Z book, p114), in which case the number of parameters is 2n+9 while the number of residuals is n. ( where n is the number of point correspondences ). Would someone get the idea to figure this issue out? Thanks! Leonard __________________________________________________ Do You Yahoo!? Tired of spam? Yahoo! Mail has the best spam protection around http://mail.yahoo.com 
From: Gehua Yang <yangg2@rp...>  20041116 21:22:18

> Hi, > Is there anyone who knows how to merge vil_image in vgui_image_tableau > with its parent vgui_easy2D_tableau's vgui_soview geometry objects ? > > I want to make up a video, in which the feature's track would be shown. > In addition to what Amitha has pointed out, you can use vgui_utils::dump_colour_buffer(.) to obtain an image of the current window. If you prefer Postscript output, you can use vgui_easy2D_tableau::print_psfile(.) Gehua 
From: Amitha Perera <perera@cs...>  20041116 17:29:56

On Tue 16 Nov 2004, Xiaowei Li wrote: > Is there anyone who knows how to merge vil_image in vgui_image_tableau with its parent vgui_easy2D_tableau's vgui_soview geometry objects ? Have a look at the vgui example basic04_display_2d.cxx Amitha. 
From: Swati Setty <swati_setty@mi...>  20041116 13:04:30

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From: Xiaowei Li <nemesis@bi...>  20041116 11:15:09

Hi, Is there anyone who knows how to merge vil_image in vgui_image_tableau with its parent vgui_easy2D_tableau's vgui_soview geometry objects ? I want to make up a video, in which the feature's track would be shown. Thanks. Regards Shawrie Lee 