From b323f2cf9fd1d2fffd7926638b82128b71612dbb Mon Sep 17 00:00:00 2001
From: agv <ab9@mit.edu>
Date: Mon, 27 Apr 2020 21:14:12 -0400
Subject: [PATCH] Fixig bug in spinnaker 2.x.x which causes serial number to be
 read in hex

---
 include/spinnaker_sdk_camera_driver/camera.h |  2 +-
 src/camera.cpp                               | 10 +++++++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/include/spinnaker_sdk_camera_driver/camera.h b/include/spinnaker_sdk_camera_driver/camera.h
index 1f12fbc..c3bba14 100755
--- a/include/spinnaker_sdk_camera_driver/camera.h
+++ b/include/spinnaker_sdk_camera_driver/camera.h
@@ -59,7 +59,7 @@ namespace acquisition {
         // void setTrigMode();
         // void setTriggerOverlapOff();
 
-        string get_id() { return string(pCam_->GetUniqueID()); }
+        string get_id();
         void make_master() { MASTER_ = true; ROS_DEBUG_STREAM( "camera " << get_id() << " set as master"); }
         bool is_master() { return MASTER_; }
         void set_color(bool flag) { COLOR_ = flag; }
diff --git a/src/camera.cpp b/src/camera.cpp
index ed04971..a97fd4f 100755
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -292,6 +292,14 @@ void acquisition::Camera::trigger() {
     
 }
 
+string acquisition::Camera::get_id() {
+    INodeMap& nodeMap = pCam_->GetTLDeviceNodeMap();
+    CStringPtr ptrDeviceSerialNumber = nodeMap.GetNode("DeviceSerialNumber");
+    if (IsReadable(ptrDeviceSerialNumber)){
+        return string(ptrDeviceSerialNumber->GetValue());
+    }
+    return "";
+}
 
 void acquisition::Camera::targetGreyValueTest() {
     CFloatPtr ptrExpTest =pCam_->GetNodeMap().GetNode("AutoExposureTargetGreyValue");
@@ -327,4 +335,4 @@ void acquisition::Camera::calibrationParamsTest(int calibrationWidth, int calibr
         ROS_WARN_STREAM(" Looks like your calibration is not done at full Sensor Resolution for cam_id = "<<get_id()<<" , Sensor_Width = "<<(pCam_ ->SensorWidth()) <<" given cameraInfo params:width = "<<calibrationWidth);
     if ( (pCam_ ->SensorHeight()) != calibrationHeight )
         ROS_WARN_STREAM(" Looks like your calibration is not done at full Sensor Resolution for cam_id = "<<get_id()<<" , Sensor_Height= "<<(pCam_ ->SensorHeight()) <<" given cameraInfo params:height = "<<calibrationHeight);
-}
\ No newline at end of file
+}