diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9b713f7ca7e736dc5a17d3d953eb1148cbecabbd..fb4f99d200a90980f640a031e24129f40f60a46b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -20,19 +20,19 @@ SET( CMAKE_BUILD_TYPE Release)
INCLUDE (${PROJECT_SOURCE_DIR}/FindmvIMPACT.cmake)
#find the cv support and set HAVE_OPENCV_H for the conditional compilation
-FIND_PACKAGE(OpenCV 3.1)
+FIND_PACKAGE(OpenCV 2.4)
if (OpenCV_FOUND)
- if (${OpenCV_VERSION_MAJOR} GREATER 2)
+ if (${OpenCV_VERSION_MAJOR} GREATER 1)
message("-- [INFO] Found OpenCV support")
ADD_DEFINITIONS(-DHAVE_OPENCV_H)
SET(USE_CV true)
- else(${OpenCV_VERSION_MAJOR} GREATER 2)
- message("[WARN] OpenCV support not installed. Minimum 3.0 version required. In case of using ROS, consider intalling OpenCV3 within ROS framework.")
+ else(${OpenCV_VERSION_MAJOR} GREATER 1)
+ message("[WARN] OpenCV support not installed. Minimum 2.4 version required.")
message("[WARN] Current version ${OpenCV_VERSION_MAJOR}")
- endif(${OpenCV_VERSION_MAJOR} GREATER 2)
+ endif(${OpenCV_VERSION_MAJOR} GREATER 1)
else(OpenCV_FOUND)
- message("[WARN] OpenCV support not installed. Minimum 3.0 version required. In case of using ROS, consider intalling OpenCV3 within ROS framework.")
+ message("[WARN] OpenCV support not installed. Minimum 2.4 version required.")
endif(OpenCV_FOUND)
# add the necessary include directories
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 6b7ae2f2a0d006b670bc7a73e06a8da2e9f9713f..54d61bac2912aaa67d69b1afc0ff211678dd286d 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -1,8 +1,8 @@
-# add the necessary include directories
-INCLUDE_DIRECTORIES(.)
-
if (USE_CV)
+ # add the necessary include directories
+ INCLUDE_DIRECTORIES(. ${mvIMPACT_INCLUDE_DIR})
+
# create an example application
ADD_EXECUTABLE(mvbluefox3_test mvbluefox3_test.cpp)
diff --git a/src/examples/mvbluefox3_test.cpp b/src/examples/mvbluefox3_test.cpp
index 6a9fdb3bab4ea0d0cc76a8c03372b54bb09c985a..19db02255606d9915bd26ff6a19258b6eedd04f9 100644
--- a/src/examples/mvbluefox3_test.cpp
+++ b/src/examples/mvbluefox3_test.cpp
@@ -3,11 +3,17 @@
#include <unistd.h>
#ifdef HAVE_OPENCV_H
+#include <opencv2/core/version.hpp>
+#if CV_MAJOR_VERSION == 3
#include <opencv2/opencv.hpp>
#endif
+#endif
#define WINDOW_NAME "mvBlueFOX3 TEST"
+mvIMPACT::acquire::DeviceManager devMgr_; // Device Manager.
+
+
std::string GetSerialFromUser(void)
{
mvIMPACT::acquire::DeviceManager devMgr; // Device Manager.
@@ -20,36 +26,36 @@ int main(int argc, char *argv[])
try {
// cam_ptr = new CMvbluefox3::CMvbluefox3(GetSerialFromUser());
- cam_ptr = new CMvbluefox3::CMvbluefox3("F0300141");
+ cam_ptr = new CMvbluefox3::CMvbluefox3("F0300141",devMgr_);
CMvbluefox3::CParams params; //default parameters.
cam_ptr->SetConfig(params);
-#ifdef HAVE_OPENCV_H
+#if defined(HAVE_OPENCV_H) && CV_MAJOR_VERSION == 3
std::cout << "[Camera test]: Acquiring images." << std::endl;
cv::namedWindow( WINDOW_NAME, cv::WINDOW_NORMAL );
-boost::timer t;
-double duration;
+ boost::timer t;
+ double duration;
while (true)
{
-t.restart();
+ t.restart();
cv::Mat image;
cam_ptr->GetImageCV(image);
cv::imshow( WINDOW_NAME, image );
if(cv::waitKey(30) >= 0) break;
-// std::cout << '\r' << "fps:" << 1.0/t.elapsed() << std::flush;
+ std::cout << '\r' << "fps:" << 1.0/t.elapsed() << std::flush;
}
-std::cout << std::endl;
+ std::cout << std::endl;
cv::destroyAllWindows();
#else
char *image=NULL;
cam_ptr->GetImage(&image);
std::cout << "[Camera test]: Frame acquired successfully."
- << "As no opencv is installed, visualization is avoided." << std::endl;
+ << "OpenCV 3 is required and not installed, thus visualization is avoided." << std::endl;
delete [] image;
#endif
std::cout << "[Camera test]: Finished successfully." << std::endl;
diff --git a/src/mvbluefox3.cpp b/src/mvbluefox3.cpp
index 86cc00073385be49b956488b06fb3f911b9e8b82..2fcb41e37b2acd7ce35ed1acfdb375af97331224 100644
--- a/src/mvbluefox3.cpp
+++ b/src/mvbluefox3.cpp
@@ -13,22 +13,26 @@
// uncomment this line to get more output into the console window
//#define VERBOSE_OUTPUT
+// mvIMPACT::acquire::DeviceManager devMgr_; // Device Manager.
+
namespace CMvbluefox3 {
-CMvbluefox3::CMvbluefox3(const std::string &serial)
+CMvbluefox3::CMvbluefox3(const std::string &serial, const mvIMPACT::acquire::DeviceManager &dMan): devMgr_(dMan)
{
if( !serial.empty() )
{
std::cout << "[mvBlueFOX3]: Trying to open device with serial: " << serial << std::endl;
- if (this->devMgr_.getDeviceBySerial(serial) == 0)
+ // if (this->devMgr_.getDeviceBySerial(serial) == 0)
+ if (devMgr_.getDeviceBySerial(serial) == 0)
{
throw CmvBlueFOX3Exception(_HERE_, "No device found! Unable to continue. " + AvailableDevices());
}
else
{
// create an interface to the found device
- this->device_ = this->devMgr_[0];
+ // this->device_ = this->devMgr_[0];
+ this->device_ = devMgr_[0];
// Initialize other vars
this->timeout_ms_ = -1;
@@ -69,7 +73,8 @@ std::string CMvbluefox3::AvailableDevices(SUPPORTED_DEVICE_CHECK pSupportedDevic
{
std::ostringstream devices;
devices << "Available device(s): ";
- const unsigned int devCnt = this->devMgr_.deviceCount();
+ // const unsigned int devCnt = this->devMgr_.deviceCount();
+ const unsigned int devCnt = devMgr_.deviceCount();
if (devCnt == 0)
{
devices << "0.";
@@ -78,7 +83,8 @@ std::string CMvbluefox3::AvailableDevices(SUPPORTED_DEVICE_CHECK pSupportedDevic
{
for( unsigned int i = 0; i < devCnt; i++ )
{
- Device* pDev = this->devMgr_[i];
+ // Device* pDev = this->devMgr_[i];
+ Device* pDev = devMgr_[i];
if( pDev )
{
if( !pSupportedDeviceCheckFn || pSupportedDeviceCheckFn( pDev ) )
@@ -221,7 +227,6 @@ void CMvbluefox3::GetImageCV(cv::Mat &image)
int type = CV_8UC1;
switch (this->depth_*this->bytes_per_pixel_)
- switch (this->linepitch_)
{
case 8: type = CV_8UC1; break;
case 16: type = CV_8UC2; break;
@@ -233,7 +238,7 @@ void CMvbluefox3::GetImageCV(cv::Mat &image)
image = cv::Mat(this->params_.height,this->params_.width,type,image_raw);
- delete [] image_raw;
+ DelPtr(image_raw);
}
#endif
diff --git a/src/mvbluefox3.h b/src/mvbluefox3.h
index 3f86e7f9c0ff8ea56c6db042fb885b8e6152a933..62daedb94ba978c675a6137464d60ec622203c29 100644
--- a/src/mvbluefox3.h
+++ b/src/mvbluefox3.h
@@ -366,7 +366,7 @@ class CMvbluefox3
*
* Class constructor.
*/
- CMvbluefox3(const std::string &serial);
+ CMvbluefox3(const std::string &serial, const mvIMPACT::acquire::DeviceManager &dMan);
/**
* \brief Class destructor