almost working. only raw messages to be fixed in ros node

src/examples/mvbluefox3_test.cpp

 #include "mvbluefox3.h"
 #include <unistd.h>
-
+#include <limits.h>
 #include <sstream>
 
 #ifdef HAVE_OPENCV_H
@@ -12,7 +12,7 @@
 
 typedef bool( *SUPPORTED_DEVICE_CHECK )( const mvIMPACT::acquire::Device* const );
 
-mvIMPACT::acquire::DeviceManager devMgr_;            // Device Manager.
+// mvIMPACT::acquire::DeviceManager devMgr_;            // Device Manager.
 
 
 std::string GetSerialFromUser(void)
@@ -35,7 +35,7 @@ std::string AvailableDevices(SUPPORTED_DEVICE_CHECK pSupportedDeviceCheckFn)
   {
     for( unsigned int i = 0; i < devCnt; i++ )
     {
-      Device* pDev = devMgr_[i];
+      Device* pDev = devMgr[i];
       if( pDev )
       {
         if( !pSupportedDeviceCheckFn || pSupportedDeviceCheckFn( pDev ) )
@@ -48,22 +48,42 @@ std::string AvailableDevices(SUPPORTED_DEVICE_CHECK pSupportedDeviceCheckFn)
   return devices.str();
 }
 
+std::string GetPath()
+{
+  char result[ PATH_MAX ];
+  ssize_t count = readlink( "/proc/self/exe", result, PATH_MAX );
+  return std::string( result, (count > 0) ? count : 0 );
+}
+
 int main(int argc, char *argv[])
 {
-  int num_cams = 2;
+  int num_cams = 1;
+
+  // Get own path
+  std::string argv_str(argv[0]);
+  std::string pbase = argv_str.substr(0, argv_str.find_last_of("/"));
+  std::string paramspath = pbase + "/../src/examples/example_params.xml";
+
+  std::cout << std::endl;
+  std::cout << "******************************" << std::endl;
+  std::cout << "* ----  mvBlueFOX3 test ---- *" << std::endl;
+  std::cout << "******************************" << std::endl;
+  std::cout << std::endl;
+  std::cout << "Please, choose the device to test from the following list:" << std::endl;
+  std::cout << std::endl;
 
   std::vector<std::string> serial;
   serial.resize(num_cams);
-  serial[0] = "F0300141";
-  serial[1] = "F0300123";
+  serial[0] = GetSerialFromUser();
 
 #if defined(HAVE_OPENCV_H) && CV_MAJOR_VERSION == 3
   std::vector<std::string> window_name;
   window_name.resize(num_cams);
   window_name[0] = serial[0];
-  window_name[1] = serial[1];
 #endif
 
+  mvIMPACT::acquire::DeviceManager devMgr_;            // Device Manager.
+
   std::vector<CMvbluefox3::CMvbluefox3*> cam_ptr;
   cam_ptr.resize(num_cams);
   for (int ii = 0; ii < num_cams; ++ii)
@@ -72,7 +92,7 @@ int main(int argc, char *argv[])
 
     if( !serial[ii].empty() )
     {
-      std::cout << "[mvBlueFOX3]: Trying to open device with serial: " << serial[ii] << std::endl;
+      std::cout << "Trying to open device with serial: " << serial[ii] << std::endl;
 
       if (devMgr_.getDeviceBySerial(serial[ii]) == 0)
       {
@@ -81,7 +101,7 @@ int main(int argc, char *argv[])
       else
       {
         // create an interface to the found device 
-        cam_ptr[ii] = new CMvbluefox3::CMvbluefox3(devMgr_.getDeviceBySerial(serial[ii]));
+        cam_ptr[ii] = new CMvbluefox3::CMvbluefox3(devMgr_.getDeviceBySerial(serial[ii]),paramspath);
       }
     }
     else
@@ -90,15 +110,8 @@ int main(int argc, char *argv[])
   
   try {
 
-    for (int ii = 0; ii < num_cams; ++ii)
-    {
-      CMvbluefox3::CParams params; //default parameters.
-      params.pixel_format = CMvbluefox3::rgb8;
-      cam_ptr[ii]->SetConfig(params);
-    }
-
 #if defined(HAVE_OPENCV_H) && CV_MAJOR_VERSION == 3
-    std::cout << "[Camera test]: Acquiring images." << std::endl;
+    std::cout << "Acquiring images. WARNING: depending on OpenCV compilation flags, visualization might experience hard delays (e.g. if \"init done\" appears in the following line)" << std::endl;
 
     for (int ii = 0; ii < num_cams; ++ii)
       cv::namedWindow( window_name[ii], cv::WINDOW_NORMAL );

src/mvbluefox3.cpp

@@ -72,9 +72,8 @@ void CMvbluefox3::OpenDevice(const std::string &sett_path)
 
   if (!sett_path.empty())
     LoadSettings(sett_path);
-
-  // Uncomment this function in case of filling manually the parameters before creating the CMvbluefox3 object externally, otherwise LoadSettings function will be used.
-  // SetConfig(this->params_,true);
+  else
+    SetConfig(this->params_,true);
 }
 
 void CMvbluefox3::CloseDevice(void)
@@ -202,6 +201,7 @@ void CMvbluefox3::GetImageCV(cv::Mat &image)
   }
 
   image = cv::Mat(this->params_.height,this->params_.width,type,image_raw);   
+  cv::cvtColor(image, image, CV_BGR2RGB); // Opencv uses BGR.
 
   DelPtr(image_raw);
 }
@@ -237,8 +237,20 @@ void CMvbluefox3::GetImageReqFormat(mvIMPACT::acquire::Request *request)
     this->params_.pixel_format = MVFormatToEncoding(idpf); 
   }
   else // Bayer pattern
+  {
     this->params_.pixel_format = BayerPatternToEncoding(bayer_mosaic_parity,
                                                         this->bytes_per_pixel_);
+  }
+}
+
+int CMvbluefox3::GetBytesPixel(void)
+{
+  return this->bytes_per_pixel_;
+}
+
+int CMvbluefox3::GetDepth(void)
+{
+  return this->depth_;
 }
 
 int CMvbluefox3::GetImgLinePitch(void)

src/mvbluefox3.h

@@ -426,6 +426,20 @@ class CMvbluefox3
      */    
     CParams GetConfig(void); 
 
+    /**
+     * \brief Get bytes per pixel 
+     *
+     *  Get bytes per pixel.
+     */ 
+    int GetBytesPixel(void);
+
+    /**
+     * \brief Get image depth (channels)
+     *
+     *  Get image depth (channels).
+     */ 
+    int GetDepth(void);
+
     /**
      * \brief Get line pitch 
      *