To use cvCvtColor

Be careful to use CV_BGR2HSV, the detail of the manual shows:
// In case of 8-bit and 16-bit images
// R, G and B are converted to floating-point format and scaled to fit 0..1 range

V <- max(R,G,B)
S <- (V-min(R,G,B))/V if V≠0, 0 otherwise

(G - B)*60/S, if V=R
H <- 180+(B - R)*60/S, if V=G
240+(R - G)*60/S, if V=B

if H<0 then H<-H+360

On output 0≤V≤1, 0≤S≤1, 0≤H≤360.
The values are then converted to the destination data type:
8-bit images:
V <- V*255, S <- S*255, H <- H/2 (to fit to 0..255)
16-bit images (currently not supported):
V <- V*65535, S <- S*65535, H <- H
32-bit images:
H, S, V are left as is

If the original image is float, you should manually convert the pixel values in the original image to [0, 1].

The ICRA 2011 conference at Shanghai, China

Well, ICRA2011 was a very amazing conference, where I met a lot of famous experts in robotics and computer vision, such as Marc Pollefeys, Stan Birchfield, Shoudong Huang, Chieh-Chih Wang, Larry Matthies and Ryan Eustice, etc. Although I did not try to talk with them all because I am a little nervous and shy, I am very exciting to see them face to face.
About my talk, it was my first conference talk, so some mistakes happened, for instance, wrong pronunciation for some words. I forgive myself here. This experience will let me learn and make further progress on the next conferences.
Thanks my friends and prior college Kejun Ning, who made a photo when I gave the talk.

opencv2.0: a bug in the function convertBGRImageToOpponentColorSpace

The O1 in the opponent color space should be red - green, but in the code, it shows:

int value = static_cast( static_cast(static_cast(*gIt)-static_cast(*rIt)) * factor );

which is wrong.

Specify the port of vncviewer

It works fine for me....
vncviewer -via "NAME@IP -pXXXX " localhost:1

UBUNTU 11.04 again can not boot because the NVIDIA driver

Yesterday I update the other computer's system to Ubuntu 11.04. The result was very disappointment.
The system went to die when it rebooted. The reason behind this is the graphic card driver: NVIDIA. I download the new version NVIDIA driver for my computer, and try to reinstall the driver.
There is the other problem show up : it can't find the header file of linux kernel.
Then I use the --kernel-source-path to tell the program where the headers are.
The other problem turn out: the "nvidia.ko" can not be loaded because the kernel version doesn't match. The kernel version can be found out by command "uname -al".
The corresponding kernel header which is ending with "pae" which I don't have. Then I use aptitude to install this header and compile the nvidia driver again. Now it works.