spinnaker_test_node.cpp

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// ROS Includes
#include "ros/ros.h"

// Spinnaker Includes
#include "Spinnaker.h"
// #include "SpinGenApi/SpinnakerGenApi.h"

namespace spinnaker_camera_driver
{
class SpinnakerTestNode
{
public:
  SpinnakerTestNode();

  void test();
};

SpinnakerTestNode::SpinnakerTestNode()
{
  test();
}

void SpinnakerTestNode::test()
{
  Spinnaker::SystemPtr system = Spinnaker::System::GetInstance();

  Spinnaker::InterfaceList interfaceList = system->GetInterfaces();
  unsigned int numInterfaces = interfaceList.GetSize();
  std::printf("\033[93m[Spinnaker] Number of interfaces detected: %d \n", numInterfaces);

  Spinnaker::CameraList camList = system->GetCameras();
  unsigned int numCameras = camList.GetSize();

  std::printf("\033[93m[Spinnaker] # of connected cameras: %d \n", numCameras);

  // Finish if there are no cameras
  if (numCameras == 0)
  {
    std::printf("\033[91mNO Cameras Connected! \n\n");
    // Clear camera list before releasing system
    camList.Clear();
    interfaceList.Clear();
    // Release system
    system->ReleaseInstance();

    return;
  }
  else
  {
    for (unsigned int i = 0; i < numCameras; i++)
    {
      Spinnaker::CameraPtr pCam = camList[i];
      Spinnaker::GenApi::INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
      Spinnaker::GenApi::CStringPtr ptrDeviceSerialNumber = nodeMapTLDevice.GetNode("DeviceSerialNumber");
      if (Spinnaker::GenApi::IsAvailable(ptrDeviceSerialNumber) && Spinnaker::GenApi::IsReadable(ptrDeviceSerialNumber))
      {
        std::cout << "\033[92m[" << i << "]\t" << ptrDeviceSerialNumber->ToString() << std::endl;
      }
    }
  }
  camList.Clear();
  interfaceList.Clear();
  system->ReleaseInstance();
}
}  // namespace spinnaker_camera_driver

int main(int argc, char** argv)
{
  ros::init(argc, argv, "spinnaker_test_node");
  spinnaker_camera_driver::SpinnakerTestNode node;
  ros::spin();
  return 0;
}