Index: CaptureCamera.hpp
===================================================================
--- CaptureCamera.hpp	(.../trunk/ocl/hardware/camera)	(revision 29985)
+++ CaptureCamera.hpp	(.../branches/ocl-pma/hardware/camera)	(revision 29985)
@@ -1,5 +1,6 @@
 // Copyright (C) 2006 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
-//
+// Copyright (C) 2008 Francois Cauwe <francois at cauwe dot org>
+//
 // This program is free software; you can redistribute it and/or modify
 // it under the terms of the GNU General Public License as published by
 // the Free Software Foundation; either version 2 of the License, or
@@ -32,6 +33,9 @@
 #include <opencv/highgui.h>
 #include <ocl/OCL.hpp>

+#include "../../vision/VisionToolkit.hpp"
+
+
 namespace OCL
 {

@@ -63,7 +67,7 @@

     protected:
         /// Dataport which contains grabbed image
-        RTT::WriteDataPort<IplImage>        _image;
+        RTT::WriteDataPort<RgbImage>        _image;
         /// Dataport which contains grabbing timestamp
         RTT::WriteDataPort<RTT::TimeService::ticks> _capture_time;
         /// Command to grab image
@@ -105,6 +109,7 @@
         RTT::Seconds                        _elapsed;

         IplImage*                           _frame;
+        RgbImage                            _RgbFrame;
         bool _update;
         bool                                _update_properties;
     };
Index: CaptureCamera.cpp
===================================================================
--- CaptureCamera.cpp	(.../trunk/ocl/hardware/camera)	(revision 29985)
+++ CaptureCamera.cpp	(.../branches/ocl-pma/hardware/camera)	(revision 29985)
@@ -22,7 +22,9 @@

 // Make this component deployable
 ORO_CREATE_COMPONENT(OCL::CaptureCamera)
+//ORO_LIST_COMPONENT_TYPE( OCL::CaptureCamera )

+
 namespace OCL
 {

@@ -85,11 +87,6 @@
     {
         Logger::In in(this->getName().data());

-        // Read config file
-        //=================
-        if ( this->marshalling()->readProperties( this->getName() + ".cpf" ) == false)
-            return false;
-
         //Initialize capturing
         //====================
         if (_video_driver.value()=="firewire"){
@@ -115,12 +112,12 @@
         // Grab one frame
         //===============
         _frame=cvQueryFrame(_capture);
-        _image.Set(*_frame);
+        _RgbFrame.Set(_frame);
+        _image.Set(_RgbFrame);
         if(_show_image.value()){
+            cvStartWindowThread();
             cvNamedWindow(this->getName().c_str(),CV_WINDOW_AUTOSIZE);
-            cvWaitKey(3);//wait 3 ms for main loop of graphical server
             cvShowImage(this->getName().c_str(),_frame);
-            cvWaitKey(3);//wait 3 ms for main loop of graphical server
         }

         log(Info) << "Capturing initialized..." << endlog();
@@ -145,7 +142,6 @@
         // Close window
         if(_show_image.value()){
             cvDestroyWindow(this->getName().c_str());
-            cvWaitKey(3);//wait 3 ms for main loop of graphical server
         }

         // Release capture device
@@ -183,13 +179,11 @@
             this->error();
         }
         _frame = cvRetrieveFrame(_capture);
+        _RgbFrame.Set(_frame);
+        _image.Set(_RgbFrame);

-        _image.Set(*_frame);
-
-        // Show image
         if(_show_image.value()){
             cvShowImage(this->getName().c_str(),_frame);
-            cvWaitKey(3);//wait 3 ms for main loop of graphical server
         }

         // Show time used for capturing