Pi Camera + openCV connection issues with V4l2 already installed? - c++

Question

I am using openCV to access the camera- and for some reason it will not connect to the pi camera, Can anyone see any reason why that may be?
my code to test camera is as follows:
#include <stdio.h>
#include <pigpio.h>
#include <stdlib.h>
#include <unistd.h>
#include <wiringPi.h>
#include <softPwm.h>
#include "move.h"
#include "init.h"
#include <iostream>
using namespace std;
#include "distance.h"
#include <linux/videodev2.h>
#include <../include/libv4l2.h>
#include <opencv2/core/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/videoio.hpp>
using namespace cv;
void TestCamera(){
Mat initframe,blurr,B_W,edges;
//Mat image;
VideoCapture cap;
cap.open(0);
cap.set(CAP_PROP_FRAME_WIDTH,500);
cap.set(CAP_PROP_FRAME_HEIGHT,500);
if (cap.isOpened()){
for(;;)
{
cap.read(initframe);
if (initframe.empty()){ printf("error frame empty/n"); break;}
imshow("Live Stream",initframe); //normal bgr output
cvtColor(initframe,B_W,CV_BGR2GRAY);//b&W stream
imshow("greyscale",B_W);
GaussianBlur(B_W,blurr,Size(9,9),1.5,1.5);//blur applied so edge detction is smoother (less hard edges)
imshow("blurr",blurr);
Canny(blurr,edges,0,30,3);//edge detection
imshow("edges",edges);
if(waitKey(30)>= 0) break;
}
}else printf("error! unable to use camera\n");
}
and the build command is:
g++ -Wall -I/usr/local/include $(pkg-config opencv --libs) $(pkg-config opencv --cflags) -o "SdCar" "SdCar.cpp" -lwiringPi -lpigpio -lv4l2 (in directory: /home/pi/selfdrivingcar-17)
I cant figure out why it builds but whenever the camera should run it says "error!unable to open camera" which is the error associated with cap.IsOpened() function.
any ideas?