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only access camera with correct serial #202

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Jul 26, 2024
Merged

only access camera with correct serial #202

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10 changes: 0 additions & 10 deletions spinnaker_camera_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -65,16 +65,6 @@ message(STATUS "libSpinnaker include location: ${SPINNAKER_INCLUDE_DIRS}")

find_package(SPINNAKER REQUIRED)

# special case the older Spinnaker API
if(DEFINED ENV{ROS_DISTRO})
if($ENV{ROS_DISTRO} STREQUAL "foxy" OR
$ENV{ROS_DISTRO} STREQUAL "galactic")
add_definitions(-DUSE_OLD_SPINNAKER_API)
endif()
else()
message(FATAL_ERROR "ROS_DISTRO environment variable is not set!")
endif()

include_directories(SYSTEM
${SPINNAKER_INCLUDE_DIRS})

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90 changes: 35 additions & 55 deletions spinnaker_camera_driver/src/spinnaker_wrapper_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,58 +105,10 @@ SpinnakerWrapperImpl::SpinnakerWrapperImpl()

void SpinnakerWrapperImpl::refreshCameraList()
{
#ifdef USE_OLD_SPINNAKER_API
cameraList_ = system_->GetCameras();
for (size_t cam_idx = 0; cam_idx < cameraList_.GetSize(); cam_idx++) {
const auto cam = cameraList_[cam_idx];
}
#else
cameraList_.Clear();

Spinnaker::InterfaceList interfaceList = system_->GetInterfaces();

for (size_t i = 0; i < interfaceList.GetSize(); i++) {
Spinnaker::InterfacePtr iface = interfaceList.GetByIndex(i);

Spinnaker::GenApi::INodeMap & nodeMapInterface = iface->GetTLNodeMap();

Spinnaker::GenApi::CEnumerationPtr ptrInterfaceType = nodeMapInterface.GetNode("InterfaceType");

if (IsAvailable(ptrInterfaceType) && IsReadable(ptrInterfaceType)) {
Spinnaker::GenApi::CStringPtr ptrInterfaceDisplayName =
nodeMapInterface.GetNode("InterfaceDisplayName");

if (IsAvailable(ptrInterfaceDisplayName) && IsReadable(ptrInterfaceDisplayName)) {
Spinnaker::GenICam::gcstring interfaceDisplayName = ptrInterfaceDisplayName->GetValue();

Spinnaker::CameraList camList = iface->GetCameras();

for (size_t cam_idx = 0; cam_idx < camList.GetSize(); cam_idx++) {
// try open the cameras in a specific interface
Spinnaker::CameraPtr ptrCam = camList.GetByIndex(cam_idx);
try {
ptrCam->Init();
ptrCam->DeInit();
} catch (Spinnaker::Exception & e) {
// erro while open the cameras in this interface
continue;
} // end try-catch ptrCam

// successfully open the camera in the interface
cameraList_.Add(ptrCam);

LOG_INFO_FMT(
"Found camera [serial: %s] from: [%s]", get_serial(ptrCam).c_str(),
interfaceDisplayName.c_str());
} // end for camList
} else {
LOG_ERROR("Unknown Interface (Display name not readable)");
}
}
}

interfaceList.Clear();
#endif
}

SpinnakerWrapperImpl::~SpinnakerWrapperImpl()
Expand Down Expand Up @@ -425,13 +377,41 @@ bool SpinnakerWrapperImpl::initCamera(const std::string & serialNumber)
if (camera_) {
return false;
}
for (size_t cam_idx = 0; cam_idx < cameraList_.GetSize(); cam_idx++) {
auto cam = cameraList_.GetByIndex(cam_idx);
const std::string sn = get_serial(cam);
if (sn == serialNumber) {
camera_ = cam;
camera_->Init();
break;
const auto interfaceList = system_->GetInterfaces();

for (size_t i = 0; i < interfaceList.GetSize(); i++) {
const auto iface = interfaceList.GetByIndex(i);
const auto & nodeMapInterface = iface->GetTLNodeMap();
const auto ptrInterfaceType = nodeMapInterface.GetNode("InterfaceType");

if (IsAvailable(ptrInterfaceType) && IsReadable(ptrInterfaceType)) {
const Spinnaker::GenApi::CStringPtr ptrInterfaceDisplayName =
nodeMapInterface.GetNode("InterfaceDisplayName");

if (IsAvailable(ptrInterfaceDisplayName) && IsReadable(ptrInterfaceDisplayName)) {
const auto interfaceDisplayName = ptrInterfaceDisplayName->GetValue();
const auto camList = iface->GetCameras();
for (size_t cam_idx = 0; cam_idx < camList.GetSize(); cam_idx++) {
// try open the cameras in a specific interface
Spinnaker::CameraPtr ptrCam = camList.GetByIndex(cam_idx);
const auto serial = get_serial(ptrCam);
if (serial == serialNumber) {
try {
ptrCam->Init();
LOG_INFO_FMT(
"Initialized camera [serial: %s] from: [%s]", serialNumber.c_str(),
interfaceDisplayName.c_str());
camera_ = ptrCam;
return (true);
} catch (Spinnaker::Exception & e) {
// error while open the cameras in this interface
ptrCam->DeInit();
}
}
}
} else {
LOG_ERROR("Unknown Interface (Display name not readable)");
}
}
}
return (camera_ != 0);
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