working with opencv 2.4.8 and external devMgr

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

src/examples/CMakeLists.txt

-# 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)
 

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;

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
 

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