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Fixing bug in spinnaker 2.x.x which causes serial number to be read in… #84

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merged 1 commit into from
Apr 28, 2020
Merged

Fixing bug in spinnaker 2.x.x which causes serial number to be read in… #84

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2 changes: 1 addition & 1 deletion include/spinnaker_sdk_camera_driver/camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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; }
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10 changes: 9 additions & 1 deletion src/camera.cpp
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Expand Up @@ -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");
Expand Down Expand Up @@ -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);
}
}