Feature/ubuntu 20.4

CMakeLists.txt

@@ -31,6 +31,7 @@ find_package(trigger_msgs)
 find_package(Spinnaker REQUIRED)
 message("spinnaker lib :   " ${Spinnaker_LIBRARIES})
 find_package(OpenCV REQUIRED)
+
 # use LibUnwind only for x86_64 or x86_32 architecture
 # do not use LibUnwind for arm architecture
 if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)

include/spinnaker_sdk_camera_driver/capture.h

@@ -4,7 +4,6 @@
 #include "std_include.h"
 #include "serialization.h"
 #include "camera.h"
-#include "spinnaker_configure.h"
 #include <boost/archive/binary_oarchive.hpp>
 #include <boost/filesystem.hpp>
 //ROS

include/spinnaker_sdk_camera_driver/spinnaker_configure.h.in

@@ -1 +1,2 @@
 #cmakedefine trigger_msgs_FOUND
+#define OPENCV_VERSION @OpenCV_VERSION_MAJOR@

include/spinnaker_sdk_camera_driver/std_include.h

@@ -4,10 +4,14 @@
 // Spinnaker SDK
 #include "Spinnaker.h"
 #include "SpinGenApi/SpinnakerGenApi.h"
-
+#include "spinnaker_configure.h"
 // OpenCV
-#include <cv.h>
-#include <opencv2/highgui/highgui.hpp>
+#if (OPENCV_VERSION < 4)
+    #include <cv.h>
+#else
+    #include <opencv2/highgui/highgui.hpp>
+#endif
+
 
 // ROS
 #include <ros/ros.h>

src/capture.cpp

@@ -45,6 +45,7 @@ acquisition::Capture::Capture() {
 }
 
 void acquisition::Capture::onInit() {
+    cout<<CV_VERSION_MAJOR<<endl;
     NODELET_INFO("Initializing nodelet");
     nh_ = this->getNodeHandle();
     nh_pvt_ = this->getPrivateNodeHandle();
@@ -996,8 +997,11 @@ void acquisition::Capture::run_soft_trig() {
     start_acquisition();
 
     // Camera directories created at first save
-    
+#if (OPENCV_VERSION < 4)
     if (LIVE_)namedWindow("Acquisition", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);
+#else
+    if (LIVE_)namedWindow("Acquisition", WINDOW_NORMAL | WINDOW_KEEPRATIO);
+#endif
 
     int count = 0;
 
@@ -1045,8 +1049,11 @@ void acquisition::Capture::run_soft_trig() {
                     displayOverlay("Acquisition", title);
                 }
             }
-
+#if (OPENCV_VERSION < 4)
             int key = cvWaitKey(1);
+#else
+            int key = waitKey(1);
+#endif
             ROS_DEBUG_STREAM("Key press: "<<(key & 255)<<endl);
 
             if ( (key & 255)!=255 ) {
@@ -1070,7 +1077,12 @@ void acquisition::Capture::run_soft_trig() {
                     }
                 } else if( (key & 255)==27 ) {  // ESC
                     ROS_INFO_STREAM("Terminating...");
+#if (OPENCV_VERSION < 4)
                     cvDestroyAllWindows();
+#else
+                    destroyAllWindows();
+#endif
+
                     ros::shutdown();
                     break;
                 }
@@ -1098,7 +1110,11 @@ void acquisition::Capture::run_soft_trig() {
                 ROS_INFO_STREAM(" Recorded frames "<<count<<" / "<<nframes_);
                 if (count > nframes_) {
                     ROS_INFO_STREAM(nframes_ << " frames recorded. Terminating...");
+#if (OPENCV_VERSION < 4)
                     cvDestroyAllWindows();
+#else
+                    destroyAllWindows();
+#endif
                     break;
                 }
             }