working with opencv3.0 and ROS. first draft

src/mvbluefox3.cpp

@@ -32,6 +32,7 @@ CMvbluefox3::CMvbluefox3(const std::string &serial)
 
       // Initialize other vars
       this->timeout_ms_ = -1;
+      this->linepitch_ = 8;
       this->depth_ = 8;
       this->bytes_per_pixel_ = 1;
 
@@ -220,6 +221,7 @@ 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;
@@ -252,6 +254,9 @@ void CMvbluefox3::GetImageReqFormat(mvIMPACT::acquire::Request *request)
   // Bytes per pixel
   ReadProperty(this->request_->imageBytesPerPixel,this->bytes_per_pixel_);
 
+  // Line pitch
+  ReadProperty(this->request_->imageLinePitch,this->linepitch_);
+
   // Bayer parity of this image if this buffer is part of a larger image
   TBayerMosaicParity bayer_mosaic_parity;
   ReadProperty(request_->imageBayerMosaicParity,bayer_mosaic_parity);
@@ -263,17 +268,12 @@ void CMvbluefox3::GetImageReqFormat(mvIMPACT::acquire::Request *request)
   }
   else // Bayer pattern
     this->params_.pixel_format = BayerPatternToEncoding(bayer_mosaic_parity,
-                                           this->bytes_per_pixel_);
+                                                        this->bytes_per_pixel_);
 }
 
-int CMvbluefox3::GetChDepth(void)
+int CMvbluefox3::GetImgLinePitch(void)
 {
-  return this->depth_;
-}
-
-int CMvbluefox3::GetBytesXPixel(void)
-{
-  return this->bytes_per_pixel_;
+  return this->linepitch_;
 }
 
 int CMvbluefox3::ReqExposeUs(void) 
@@ -586,7 +586,7 @@ void CMvbluefox3::SetHdr(bool &hdr)
 void CMvbluefox3::SetDarkCFilter(int &dcfm)
 {
   if (dcfm != dcfmOff && !this->bf_sets_->imageProcessing.darkCurrentFilterMode.isValid())
-      throw CmvBlueFOX3Exception(_HERE_, "HDR option is not available for this model.");    
+      throw CmvBlueFOX3Exception(_HERE_, "Dark filter option is not available for this model.");    
    
   try{  
  

src/mvbluefox3.h

@@ -44,7 +44,6 @@ private:
 
     // Acquisition 
     frame_rate  = 100000;
-    frate_limit_mode = 0;
     pixel_clock = 66000;
     req_timeout = 2000;
 
@@ -87,7 +86,6 @@ public:
   int v_binning;                // Vertical binning factor.
 
   int frame_rate;               // Frame rate.
-  int frate_limit_mode;         // Calculation of the maximum frame rate.    
   int pixel_clock;              // Pixel_clock.
   int req_timeout;              // request timeout [ms].
 
@@ -144,13 +142,13 @@ class CMvbluefox3
     mvIMPACT::acquire::GenICam::LUTControl *lut_ctrl_;         // LUT.
     mvIMPACT::acquire::Statistics *stats_;                     // Statistics. 
 
-    int timeout_ms_;  // Frame request timeout.
+    int timeout_ms_;    // Frame request timeout.
 
-    codings_t coding_;    // Image coding.
+    codings_t coding_;  // Image coding.
+    int linepitch_;     // Line pitch.    
     int depth_;           // Bits per image channel.
     int bytes_per_pixel_; // Bytes per pixel.
 
-
     /**
      * \brief Mutex object to handle the access to the image
      *
@@ -431,18 +429,11 @@ class CMvbluefox3
     CParams GetConfig(void); 
 
     /**
-     * \brief Get channel's depth 
-     *
-     *  Get channel's depth.
-     */ 
-    int GetChDepth(void);
-
-    /**
-     * \brief Get bytes-pixel 
+     * \brief Get line pitch 
      *
-     *  Get bytes-pixel.
+     *  Get line pitch.
      */ 
-    int GetBytesXPixel(void);
+    int GetImgLinePitch(void);
 
 };