catkin_make fails due to opencv error

[ana-lan]

System Description Camera Name and Model: Teledyne FLIR BFS-PGE-27S5C-C Operating System: Ubuntu 20.04 Spinnaker Version: 64 bit AMD - 3.1.0.79 ROS Version: Noetic

I cloned this repository and tried to build it with catkin_make as given in the README file. All the dependencies have been installed as per requirement. I have installed opencv version: 4.2.0 When I try to build this with catkin_make, it gives this error:

In file included from ~/catkin_ws/src/spinnaker_camera_driver/include/spinnaker_sdk_camera_driver/capture.h:4,
                from /home/~/catkin_ws/src/spinnaker_camera_driver/src/capture.cpp:1:
~/catkin_ws/src/spinnaker_camera_driver/include/spinnaker_sdk_camera_driver/std_include.h:9:10: fatal error: cv.h: No such file or directory
    9 | #include <cv.h>
    |       ^~~~~~
compilation terminated.
make[2]: *** [spinnaker_camera_driver/CMakeFiles/acquilib.dir/build.make:63: spinnaker_camera_driver/CMakeFiles/acquilib.dir/src/capture.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 93%] Built target urg_node
In file included from ~/catkin_ws/src/spinnaker_camera_driver/include/spinnaker_sdk_camera_driver/camera.h:4,
                from ~/catkin_ws/src/spinnaker_camera_driver/src/camera.cpp:1:
~/catkin_ws/src/spinnaker_camera_driver/include/spinnaker_sdk_camera_driver/std_include.h:9:10: fatal error: cv.h: No such file or directory
    9 | #include <cv.h>
    |       ^~~~~~
compilation terminated.
make[2]: *** [spinnaker_camera_driver/CMakeFiles/acquilib.dir/build.make:76: spinnaker_camera_driver/CMakeFiles/acquilib.dir/src/camera.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2331: spinnaker_camera_driver/CMakeFiles/acquilib.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed

When I searched for possible solutions for this issue, it was some transition issue of opencv so as per the solutions available I made changes in the std_include.h: I changed it #include<cv.h> to #include <opencv2/opencv.hpp> and #include<cv.h> to #include <opencv2/core/core.hpp>

In both the cases it gave me this error:

~/catkin_ws/src/spinnaker_camera_driver/src/camera.cpp: In member function ‘cv::Mat acquisition::Camera::convert_to_mat(Spinnaker::ImagePtr)’:
~/catkin_ws/src/spinnaker_camera_driver/src/camera.cpp:106:34: error: ‘class Spinnaker::IImage’ has no member named ‘Convert’
  106 |         convertedImage = pImage->Convert(PixelFormat_BGR8); //, NEAREST_NEIGHBOR);
    |                               ^~~~~~~
~/catkin_ws/src/spinnaker_camera_driver/src/camera.cpp:108:28: error: ‘class Spinnaker::IImage’ has no member named ‘Convert’
  108 |   convertedImage = pImage->Convert(PixelFormat_Mono8); //, NEAREST_NEIGHBOR);
    |                           ^~~~~~~
~/catkin_ws/src/spinnaker_camera_driver/src/capture.cpp: In member function ‘void acquisition::Capture::run_soft_trig()’:
~/catkin_ws~/catkin_ws/src/spinnaker_camera_driver/src/capture.cpp:1000:42: error: ‘CV_WINDOW_NORMAL’ was not declared in this scope; did you mean ‘CV_RAND_NORMAL’?
 1000 |     if (LIVE_)namedWindow("Acquisition", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);
    |                                       ^~~~~~~~~~~~~~~~
    |                                       CV_RAND_NORMAL
~/catkin_ws/src/spinnaker_camera_driver/src/capture.cpp:1000:61: error: ‘CV_WINDOW_KEEPRATIO’ was not declared in this scope
 1000 |     if (LIVE_)namedWindow("Acquisition", CV_WINDOW_NORMAL | CV_WINDOW_KEEPRATIO);
    |                                                           ^~~~~~~~~~~~~~~~~~~
~/catkin_ws/src/spinnaker_camera_driver/src/capture.cpp:1049:23: error: ‘cvWaitKey’ was not declared in this scope
 1049 |             int key = cvWaitKey(1);
    |                       ^~~~~~~~~
~/catkin_ws/src/spinnaker_camera_driver/src/capture.cpp:1073:21: error: ‘cvDestroyAllWindows’ was not declared in this scope
 1073 |                     cvDestroyAllWindows();
    |                   ^~~~~~~~~~~~~~~~~~~
~/catkin_ws/src/spinnaker_camera_driver/src/capture.cpp:1101:21: error: ‘cvDestroyAllWindows’ was not declared in this scope
 1101 |                     cvDestroyAllWindows();
    |                   ^~~~~~~~~~~~~~~~~~~
~/catkin_ws/src/spinnaker_camera_driver/src/camera.cpp: In member function ‘cv::Mat acquisition::Camera::grab_mat_frame()’:
~/catkin_ws/src/spinnaker_camera_driver/src/camera.cpp:100:1: warning: control reaches end of non-void function [-Wreturn-type]
  100 | }
    | ^
make[2]: *** [spinnaker_camera_driver/CMakeFiles/acquilib.dir/build.make:76: spinnaker_camera_driver/CMakeFiles/acquilib.dir/src/camera.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [spinnaker_camera_driver/CMakeFiles/acquilib.dir/build.make:63: spinnaker_camera_driver/CMakeFiles/acquilib.dir/src/capture.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2331: spinnaker_camera_driver/CMakeFiles/acquilib.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed

Can someone help me with this issue?

[ChunQiuBC]

change
CV_WINDOW_NORMAL to WINDOW_NORMAL , cvWaitKey to WaitKey , cvDestroyAllWindows to DestroyAllWindows might be helpful，and I'm still wondering the first error about Convert，If you have any solution，please reply，thx.

[rFalque]

CV_WINDOW_NORMAL to WINDOW_NORMAL , cvWaitKey to waitKey , cvDestroyAllWindows to destroyAllWindows

Same looking to solve the Convert, any update on this?

Ended up looking at this https://www.flir.com.au/support-center/iis/machine-vision/application-note/using-ros-with-spinnaker/. Make sure you checkout the correct branch for the correct version of ROS!

[alfred2002]

I successfully solve the "Convert" problem by changing my Spinnaker version to a lower one. The "Convert" might be an implicit function belongs to pImage, but in version 3.2.0, I cannot find it through searching. After I installed version 2.2.0, the error disappeared.