void printCameras()
{
FlyCapture2::BusManager busMgr;
unsigned int cameraNum;
if(!check_success(busMgr.GetNumOfCameras(&cameraNum))) return;
ROS_INFO ("Found %d cameras", cameraNum);
for (unsigned int i = 0; i < cameraNum; i++)
{
unsigned int serNo;
if(check_success(busMgr.GetCameraSerialNumberFromIndex(i, &serNo))) {
ROS_INFO ("Camera %u: S/N %u", i, serNo);
}
}
}
/*!
Return the serial id of a camera with \e index.
\param index : Camera index.
The following code shows how to retrieve the serial id of all the cameras that
are connected on the bus.
\code
#include <visp3/flycapture/vpFlyCaptureGrabber.h>
int main()
{
#if defined(VISP_HAVE_FLYCAPTURE)
vpFlyCaptureGrabber g;
unsigned int num_cameras = vpFlyCaptureGrabber::getNumCameras();
for (unsigned int i=0; i<num_cameras; i++) {
unsigned int serial_id = vpFlyCaptureGrabber::getCameraSerial(i);
std::cout << "Camera with index " << i << " has serial id: " << serial_id << std::endl;
}
#endif
}
\endcode
When two cameras are connected (PGR Flea3 in our case), we get the following:
\code
Camera with index 0 has serial id: 15372913
Camera with index 1 has serial id: 15290004
\endcode
\sa setCameraSerial()
*/
unsigned int vpFlyCaptureGrabber::getCameraSerial(unsigned int index)
{
unsigned int num_cameras = vpFlyCaptureGrabber::getNumCameras();
if(index >= num_cameras) {
throw (vpException(vpException::badValue,
"The camera with index %u is not present. Only %d cameras connected.",
index, num_cameras) );
}
unsigned int serial_id;
FlyCapture2::BusManager busMgr;
FlyCapture2::Error error;
error = busMgr.GetCameraSerialNumberFromIndex(index, &serial_id);
if (error != FlyCapture2::PGRERROR_OK) {
error.PrintErrorTrace();
throw (vpException(vpException::fatalError,
"Cannot get camera with index %d serial id.", index) );
}
return serial_id;
}
void init()
{
FlyCapture2::Error error;
FlyCapture2::BusManager busMgr;
for (int tries = 0; tries < 5; ++tries)
{
if ((error = busMgr.GetNumOfCameras(&cameraNum)) != PGRERROR_OK)
ROS_ERROR (error.GetDescription ());
if (cameraNum)
{
ROS_INFO ("Found %d cameras", cameraNum);
unsigned int serNo;
for (unsigned int i = 0; i < cameraNum; i++)
{
if ((error = busMgr.GetCameraSerialNumberFromIndex(i, &serNo)) != PGRERROR_OK)
ROS_ERROR (error.GetDescription ());
else
ROS_INFO ("Camera %u: S/N %u", i, serNo);
}
}
return;
usleep(200000);
}
}
