CX05: Fix link library bug of OpenCV

Author: shu-gong

CMake/cxInitializeLibraries.cmake

@@ -293,3 +293,12 @@ macro(cx_initialize_deformableslam)
     find_package(DeformableSLAM REQUIRED)
     include(${DeformableSLAM_USE_FILE})
 endmacro()
+
+###############################################################################
+# Initialize Pangolin library
+# Find the package.
+###############################################################################
+macro(cx_initialize_Pangolin)
+    find_package(Pangolin REQUIRED )
+    include_directories(${Pangolin_INCLUDE_DIRS})
+endmacro()

source/plugins/org.custusx.vslam/CMakeLists.txt

@@ -2,6 +2,7 @@ project(org_custusx_vslam)
 
 cx_initialize_deformableslam()
 cx_initialize_opencv()
+cx_initialize_Pangolin()
 
 set(PLUGIN_export_directive "${PROJECT_NAME}_EXPORT")
 
@@ -40,9 +41,11 @@ set(PLUGIN_target_libraries
     cxResourceVisualization
     cxLogicManager
     #cxLogicManager
-        #cxGrabber
-        Qt5::Widgets
+    #cxGrabber
+    Qt5::Widgets
     DeformableSLAM
+    ${Pangolin_LIBRARIES}
+    ${OpenCV_LIBS}
     )
 
 set(PLUGIN_OUTPUT_DIR "")

source/plugins/org.custusx.vslam/cxVslamWidget.cpp

@@ -12,11 +12,9 @@ See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt
 #include "cxVslamWidget.h"
 #include <QVBoxLayout>
 #include "opencv2/core/core.hpp"
+#include "opencv2/opencv.hpp"
 #include "Modules/Common/System.h"
-namespace cv
-{
-    class VideoCapture;
-}
+
 namespace cx
 {
 
@@ -38,14 +36,28 @@ VslamWidget::~VslamWidget()
 void VslamWidget::startVslam()
 {
     qDebug()<<"开始规划了";
-/*
-    cv::VideoCapture cap;
+    cv::VideoCapture cap;              // Open input
     cap.open("/home/shu/HamlynDatasetShort/f7phantom/f7_dynamic_deint_L.avi");
-    std::cout<<"cap status"<<cap.isOpened()<<std::endl;
-    cap.set(cv::CAP_PROP_FRAME_WIDTH, 640);
-    cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
+    if(!cap.isOpened()){
+     std::cout << "Error opening video stream or file" << std::endl;
+    }
+    while(1){
+     cv::Mat frame;
+     // Capture frame-by-frame
+     cap >> frame;
+     // If the frame is empty, break immediately
+     if (frame.empty())
+      break;
+     // Display the resulting frame
+     cv::imshow( "Frame", frame );
+     // Press  ESC on keyboard to exit
+     char c=(char)cv::waitKey(25);
+     if(c==27)
+      break;
+    }
+    // When everything done, release the video capture object
+    cap.release();
 
-*/
 }
 
 QString VslamWidget::defaultWhatsThis() const