Print camera model and version for connected cameras (#96)

* Print camera model and version for connected cameras

* Fixing the stack trace on exit by clearing camera vector

Co-authored-by: Vikrant Shah <[email protected]>

Author: Vikrant Shah

.gitignore

@@ -17,6 +17,7 @@ data/
 devel
 ~devel/lib/datacollection_neu/*.xml
 .catkin_workspace
+include/spinnaker_sdk_camera_driver/spinnaker_configure.h
 
 # ignore doc/notes.txt, but not doc/server/arch.txt
 #doc/*.txt

include/spinnaker_sdk_camera_driver/camera.h

@@ -59,6 +59,7 @@ namespace acquisition {
         // void setTrigMode();
         // void setTriggerOverlapOff();
 
+        string get_node_value(string node_string);
         string get_id();
         void make_master() { MASTER_ = true; ROS_DEBUG_STREAM( "camera " << get_id() << " set as master"); }
         bool is_master() { return MASTER_; }

src/camera.cpp

@@ -2,7 +2,7 @@
 
 acquisition::Camera::~Camera() {
 
-    pCam_ = NULL;
+    pCam_ = nullptr;
     timestamp_ = 0;
 
 }
@@ -292,15 +292,19 @@ void acquisition::Camera::trigger() {
 
 }
 
-string acquisition::Camera::get_id() {
+string acquisition::Camera::get_node_value(string node_string) {
     INodeMap& nodeMap = pCam_->GetTLDeviceNodeMap();
-    CStringPtr ptrDeviceSerialNumber = nodeMap.GetNode("DeviceSerialNumber");
-    if (IsReadable(ptrDeviceSerialNumber)){
-        return string(ptrDeviceSerialNumber->GetValue());
+    CStringPtr ptrNodeValue = nodeMap.GetNode(node_string.c_str());
+    if (IsReadable(ptrNodeValue)){
+        return string(ptrNodeValue->GetValue());
     }
     return "";
 }
 
+string acquisition::Camera::get_id() {
+    return get_node_value("DeviceSerialNumber");
+}
+
 void acquisition::Camera::targetGreyValueTest() {
     CFloatPtr ptrExpTest =pCam_->GetNodeMap().GetNode("AutoExposureTargetGreyValue");
     //CFloatPtr ptrExpTest=pCam_->GetNodeMap().GetNode("ExposureTime");

src/capture.cpp

@@ -22,8 +22,7 @@ acquisition::Capture::~Capture(){
     camList_.Clear();
 
     ROS_INFO_STREAM("Releasing camera pointers...");
-    for (int i=0; i<cams.size(); i++)
-        cams[i].~Camera();
+    cams.clear();
 
     ROS_INFO_STREAM("Releasing system instance...");
     system_->ReleaseInstance();
@@ -130,6 +129,7 @@ void acquisition::Capture::init_variables_register_to_ros() {
     read_parameters();
 
     // Retrieve singleton reference to system object
+    ROS_INFO_STREAM("*** SYSTEM INFORMATION ***");
     ROS_INFO_STREAM("Creating system instance...");
     system_ = System::GetInstance();
 
@@ -166,8 +166,10 @@ void acquisition::Capture::load_cameras() {
 
     for (int i=0; i<numCameras_; i++) {
         acquisition::Camera cam(camList_.GetByIndex(i));
-        ROS_INFO_STREAM("  -"<<cam.get_id());
-       }
+        ROS_INFO_STREAM("  -"<< cam.get_id()
+                             <<" "<< cam.get_node_value("DeviceModelName")
+                             <<" "<< cam.get_node_value("DeviceVersion") );
+    }
 
     bool master_set = false;
     int cam_counter = 0;