diff --git a/cfg/FirewireCamera.cfg b/cfg/FirewireCamera.cfg
index 18fdb0700476ac902f6938a593a6163ba8530499..9eaebda7624e2acf54f4d3c4259ea2e9d9f86ede 100755
--- a/cfg/FirewireCamera.cfg
+++ b/cfg/FirewireCamera.cfg
@@ -53,6 +53,7 @@ gen.const("RAW16", int_t, 7, "RAW coding with 16 bits per pixel")],"Available co
# Name Type Reconfiguration level Description Default Min Max
gen.add("frame_id", str_t, SensorLevels.RECONFIGURE_STOP, "Camera frame identifier", "camera_frame")
gen.add("Camera_node", int_t, SensorLevels.RECONFIGURE_STOP, "Desired camera id", -1, -1 , 100)
+gen.add("Camera_serial", str_t, SensorLevels.RECONFIGURE_STOP, "Desired camera serial number", "")
gen.add("cal_file", str_t, SensorLevels.RECONFIGURE_STOP, "Camera calibration file", "")
gen.add("ISO_speed", int_t, SensorLevels.RECONFIGURE_STOP, "Desired ISO speed", 800, 100, 800)
gen.add("Image_width", int_t, SensorLevels.RECONFIGURE_STOP, "Desired image width in pixels", 640, 160 , 2448)
diff --git a/include/firewire_camera_driver.h b/include/firewire_camera_driver.h
index 18fa4e95fb5c933276a56d86fd7b897740d2b6be..4b39431829002ff15f1e0f32aa110cde90e259fe 100644
--- a/include/firewire_camera_driver.h
+++ b/include/firewire_camera_driver.h
@@ -58,7 +58,8 @@ class FirewireCameraDriver : public iri_base_driver::IriBaseDriver
// private attributes and methods
CFirewireCamera *camera;
CFirewireServer *server;
- long int camera_id;
+ int camera_id;
+ std::string camera_serial;
int ISO_speed;
// desired configuration
TCameraConfig desired_conf;
diff --git a/launch/firewire.launch b/launch/firewire.launch
index 9490be351f3805de0aaf4b4e9f347b130e745bea..553e6da55c4383aee9492c50b3e3f5068f6ad05f 100755
--- a/launch/firewire.launch
+++ b/launch/firewire.launch
@@ -9,19 +9,20 @@
<!-- action servers: -->
<node pkg ="iri_firewire_camera"
type="iri_firewire_camera"
- name="bumblebee">
+ name="bumblebee"
+ output="screen">
<remap from="/bumblebee/camera_image"
to="/sensors/head_right/image_raw"/>
- <param name="Camera_node" value="0" />
+ <param name="Camera_serial" value="00b09d01006b6fb5" />
<param name="frame_id" value="bumblebee_right" type="string" />
<!-- set calibration file -->
- <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
+ <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
<param name="ISO_speed" value="400" />
<param name="Framerate" value="7.5" />
<param name="Color_coding" value="3" />
<param name="Image_width" value="1024" />
<param name="Image_height" value="768" />
- <param name="~tf_prefix" value="/$(env ROBOT)" type="str"/>
+ <param name="~tf_prefix" value="/bumblebee_frame" type="str"/>
</node>
<!-- published topics: /processed_image -->
diff --git a/launch/firewire_arpose_nodelet.launch b/launch/firewire_arpose_nodelet.launch
index 5a262097515ad953c763c585769d951ae7d8096b..6744c281cdb40419e21d6690bfafbf82049c3784 100755
--- a/launch/firewire_arpose_nodelet.launch
+++ b/launch/firewire_arpose_nodelet.launch
@@ -1,14 +1,14 @@
<launch>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
- <param name="Camera_node" value="2" />
- <param name="frame_id" value="bumblebee_frame" type="string" />
- <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
- <param name="ISO_speed" value="400" />
- <param name="Framerate" value="7.5" />
- <param name="Color_coding" value="6" />
- <param name="Image_width" value="1024" />
- <param name="Image_height" value="768" />
- <param name="autosize" value="true"/>
+ <param name="Camera_serial" value="00b09d01006b6fb5" />
+ <param name="frame_id" value="bumblebee_frame" type="string" />
+ <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
+ <param name="ISO_speed" value="400" />
+ <param name="Framerate" value="7.5" />
+ <param name="Color_coding" value="6" />
+ <param name="Image_width" value="1024" />
+ <param name="Image_height" value="768" />
+ <param name="autosize" value="true"/>
<remap from="/standalone_nodelet/camera_image"
to="/camera/image_raw" />
<remap from="/standalone_nodelet/camera_info"
diff --git a/launch/firewire_nodelet.launch b/launch/firewire_nodelet.launch
index 07bcfc93090bdbf464884cb566757108edf49aa2..9c04521badfd51bd0de88b6f5012bb1e98bda420 100755
--- a/launch/firewire_nodelet.launch
+++ b/launch/firewire_nodelet.launch
@@ -1,14 +1,14 @@
<launch>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
- <param name="Camera_node" value="1" />
- <param name="frame_id" value="bumblebee_frame" type="string" />
- <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/$(env ROBOT)_right_camera.yaml" type="string" />
- <param name="ISO_speed" value="400" />
- <param name="Framerate" value="7.5" />
- <param name="Color_coding" value="3" />
- <param name="Image_width" value="1024" />
- <param name="Image_height" value="768" />
- <param name="autosize" value="true"/>
+ <param name="Camera_serial" value="00b09d01006b6fb5" />
+ <param name="frame_id" value="bumblebee_frame" type="string" />
+ <param name="cal_file" value="file://$(find iri_firewire_camera)/calibration/tibi_right_camera.yaml" type="string" />
+ <param name="ISO_speed" value="400" />
+ <param name="Framerate" value="7.5" />
+ <param name="Color_coding" value="3" />
+ <param name="Image_width" value="1024" />
+ <param name="Image_height" value="768" />
+ <param name="autosize" value="true"/>
<remap from="/camera_out/image_raw"
to="/image_mono" />
<remap from="/camera_out/camera_info"
diff --git a/src/firewire_camera_driver.cpp b/src/firewire_camera_driver.cpp
index 0db011172d277203b9b78b3d4f6fb1a4dac9ced6..119860a405450608ede9cb8f1edf083ab4637715 100644
--- a/src/firewire_camera_driver.cpp
+++ b/src/firewire_camera_driver.cpp
@@ -40,13 +40,23 @@ FirewireCameraDriver::FirewireCameraDriver()
bool FirewireCameraDriver::openDriver(void)
{
+ std::stringstream buffer;
+ unsigned long long serial;
+
//setDriverId(driver string id);
- if(this->camera_id!=-1)
+ if(this->camera_id!=-1 || this->camera_serial.size()!=0)
{
this->server->init();
if(this->server->get_num_cameras()>0)
{
- this->server->get_camera(this->camera_id,&this->camera);
+ if(this->camera_serial.size()==0)
+ this->server->get_camera(this->camera_id,&this->camera);
+ else
+ {
+ buffer << this->camera_serial;
+ buffer >> std::hex >> serial;
+ this->server->get_camera_guid(serial,&this->camera);
+ }
this->camera->set_ISO_speed(this->ISO_speed);
this->camera->get_config(&this->default_conf.left_offset,&this->default_conf.top_offset,&this->default_conf.width,
&this->default_conf.height,&this->default_conf.framerate,&this->default_conf.depth,
@@ -131,6 +141,7 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
case FirewireCameraDriver::CLOSED:
this->lock();
this->camera_id=new_cfg.Camera_node;
+ this->camera_serial=new_cfg.Camera_serial;
this->ISO_speed=new_cfg.ISO_speed;
this->dyn_rec_to_camera(new_cfg,this->desired_conf);
// change the calibration file
@@ -153,6 +164,12 @@ void FirewireCameraDriver::config_update(Config& new_cfg, uint32_t level)
this->camera_id=new_cfg.Camera_node;
this->open();
}
+ if(this->camera_serial!=new_cfg.Camera_serial)
+ {
+ this->close();
+ this->camera_serial=new_cfg.Camera_serial;
+ this->open();
+ }
this->dyn_rec_to_camera(new_cfg,conf);
this->change_config(&conf);
// write the configuration back to the dynamic reconfigure window