CVD Documentation

0.7

Information

This C++ library is designed to be easy to use and portable for fast video saving, loading and display. It supports OpenGL and X Windows. It is released under the LGPL License.

Features

Language

• Modern C++ design
• Optimized assembly code
• Extensive use of exceptions
• OpenGL wrappers

Imaging

• Type-safe easy to use images
• Flexible loading and saving from a variety of types:
  • Native
    • PNM
    • BMP
    • FITS (reading only)
    • PS (saving only)
    • EPS (saving only)
  • External libraries required
    • JPEG
    • TIFF
    • PNG
  • 1/8/16/32 bit integer and 32/64 bit floating point images in greyscale, RGB and RGBA.
  • Optimum bit depth and colour depth selected automatically
• Image grabbing from video sources:
  • Linux
    • Video for Linux devices
    • Video for Linux 2 devices
    • Firewire cameras
  • IRIX
    • DMedia video capture
  • OSX
    • QuickTime video capture
  • All UNIX platforms
    • Live capture from HTTP server push JPEG cameras.
  • All platforms
    • AVI and MPEG file (all codecs supported by ffmpeg)
    • list of images
    • Server push multipart JPEG streams.
  • Convenient run-time selection using a URL-like syntax
• Colorspace conversions on images and video streams
• Various image processing tools
  • FAST corner detection
  • Image interpolation
  • Convolutions
  • Drawing in to images
  • Flipping, pasting, etc
  • Interpolation, warping and resampling
  • Integral images
• Camera calibration support: Linear, Cubic and Quintic

Mathematical

• Lie Group(S03, SE3) algebra
• Iterative and reweighted least-squares
• Random numbers

Portability

LibCVD will compile on any reasonable unixy environment, with a reasonable C++ compiler (e.g. gcc version >= 3.1) and GNU Make. Additionally, libCVD supports both normal and cross compilers. It is known to work on:

-Well tested (current):

• Linux: x86, x86-64
• Linux: ARM LPC3180, XScale (cross compile)
• uCLinux: Blackfin (cross compile)
• FreeBSD: x86
• OpenBSD: XScale
• Mac OS X: x86, PPC
  • Supports the OSX build environment including:
    • Frameworks
    • .dylib libraries
• Cygwin: x86
• MinGW: x86 (native and cross compile)
• Win32: Visual Studio 2005

-Has worked on (current status unknown):

• Linux: PPC
• Solaris: SPARC
• IRIX SGI O2: MIPS

Compiling

The normal system works:

    ./configure
    make 
    make install

libCVD fully supports parallel builds (make -j2 for instance).

Library bugs/issues

There are a few known library bugs which prevent the libraries working with libCVD

• TooN: If you have gcc >= 4.2.0 you need a version of TooN at least as recent as SNAPSHOT_20080725.

Compiler bugs

There are a few known compiler bugs which affect libCVD on various platforms.

• ppc-darwin (Mac OS X, on PPC)
  • Does not support gcc 3.3 (20030304) due to possible compiler bug.
  • Workaround: none. Install a more recent compiler.
• arm-linux (cross compiler running on i686-pc-linux-gnu)
  • Internal compiler error with: gcc version 3.4.0 20040409 (CodeSourcery ARM Q1 2004) on:
    • cvd_src/videosource.cc
    • pnm_src/jpeg.cc
  • Remove cvd_src/videosource.o from Makefile and use --disable-jpeg
  • Compile files with -O2 instead of -O3

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