C++ Error::GetDescription方法代码示例

static bool check_success(FlyCapture2::Error error) {
    if(error != FlyCapture2::PGRERROR_OK) {
        ROS_ERROR ("%s", error.GetDescription());
        return false;
    }
    return true;
}

bool Camera::setup()
{
  ///////////////////////////////////////////////////////
  // Get a camera:
  FlyCapture2::Error error;
  FlyCapture2::BusManager busMgr;

  unsigned int N;
  if ((error = busMgr.GetNumOfCameras(&N)) != PGRERROR_OK)
    ROS_ERROR (error.GetDescription ());
  if (camSerNo == 0)
  {
    if ((error = busMgr.GetCameraFromIndex(0, &guid_)) != PGRERROR_OK)
      PRINT_ERROR_AND_RETURN_FALSE;
    ROS_INFO ("did busMgr.GetCameraFromIndex(0, &guid)");
  }
  else
  {
    if ((error = busMgr.GetCameraFromSerialNumber(camSerNo, &guid_)) != PGRERROR_OK)
      PRINT_ERROR_AND_RETURN_FALSE;
  }
  ROS_INFO ("Setup: Camera GUID = %u %u %u %u", guid_.value[0], guid_.value[1], guid_.value[2], guid_.value[3]);

  ROS_INFO ("Setup successful");
  return true;

}

void Camera::SetExposure(bool _auto, bool onoff, unsigned int value)
{
  FlyCapture2::Property prop;
  FlyCapture2::Error error;
  prop.type = FlyCapture2::AUTO_EXPOSURE;
  prop.autoManualMode = _auto;
  prop.onOff = onoff;
  prop.valueA = value;
  if ((error = camPGR_.SetProperty(&prop)) != PGRERROR_OK)
  {
    ROS_ERROR (error.GetDescription ());
  }
}

void PointGreyCamera::handleError(const std::string &prefix, const FlyCapture2::Error &error)
{
  if(error == PGRERROR_TIMEOUT)
  {
    throw CameraTimeoutException("PointGreyCamera: Failed to retrieve buffer within timeout.");
  }
  else if(error != PGRERROR_OK)     // If there is actually an error (PGRERROR_OK means the function worked as intended...)
  {
    std::string start(" | FlyCapture2::ErrorType ");
    std::stringstream out;
    out << error.GetType();
    std::string desc(error.GetDescription());
    throw std::runtime_error(prefix + start + out.str() + " " + desc);
  }
}

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);
  }
}

void Camera::SetShutter (bool _auto, float value)
{
  FlyCapture2::Property prop;
  FlyCapture2::Error error;
  prop.type = FlyCapture2::AUTO_EXPOSURE;
  prop.autoManualMode = _auto;
  prop.onOff = true;
  prop.absValue = value;
  if ((error = camPGR_.SetProperty(&prop)) != PGRERROR_OK)
  {
    ROS_ERROR (error.GetDescription ());
  }

  return;
}

void Camera::start()
{
  FlyCapture2::Error error;
  if (camPGR_.IsConnected())
  {
    ROS_INFO ("IsConnected returned true");
  }
  else
    ROS_INFO ("IsConnected returned false");

  if ((error = camPGR_.StartCapture(frameDone, (void *) this)) != PGRERROR_OK)
  { //frameDone, (void*) this)) != PGRERROR_OK) {
    ROS_ERROR (error.GetDescription ());
  }
  else
  {
    ROS_INFO ("StartCapture succeeded.");
  }

}

static void throw_if_error(FlyCapture2::Error error) {
    if(error != FlyCapture2::PGRERROR_OK) {
        throw runtime_error(error.GetDescription());
    }
}

bool Camera::initCam()
{
  // Start capturing images:
  FlyCapture2::Error error;
  FlyCapture2::BusManager busMgr;

  /*if (guid_ == 0)
    if ((error = busMgr.GetCameraFromIndex(camIndex, &guid_)) != PGRERROR_OK)
      PRINT_ERROR;
  */
  if ((error = camPGR_.Connect(&guid_)) != PGRERROR_OK)
    PRINT_ERROR;
  ROS_INFO ("Camera GUID = %u %u %u %u", guid_.value[0], guid_.value[1], guid_.value[2], guid_.value[3]);

  // Set to software triggering:
  FlyCapture2::TriggerMode triggerMode;
  if ((error = camPGR_.GetTriggerMode(&triggerMode)) != PGRERROR_OK)
    PRINT_ERROR;

  // Set camera to trigger mode 0
  triggerMode.onOff = false;

  if ((error = camPGR_.SetTriggerMode(&triggerMode)) != PGRERROR_OK)
    PRINT_ERROR;

  // Set other camera configuration stuff:
  FlyCapture2::FC2Config fc2Config;
  if ((error = camPGR_.GetConfiguration(&fc2Config)) != PGRERROR_OK)
    PRINT_ERROR;
  fc2Config.grabMode = FlyCapture2::DROP_FRAMES; // supposedly the default, but just in case..
  if ((error = camPGR_.SetConfiguration(&fc2Config)) != PGRERROR_OK)
    PRINT_ERROR;
  ROS_INFO ("Setting video mode to VIDEOMODE_640x480Y8, framerate to FRAMERATE_30...");
  if ((error = camPGR_.SetVideoModeAndFrameRate(FlyCapture2::VIDEOMODE_640x480Y8, FlyCapture2::FRAMERATE_30))
      != PGRERROR_OK)
    ROS_ERROR (error.GetDescription ());
  else
    ROS_INFO ("...success");
  FlyCapture2::EmbeddedImageInfo embedInfo;
  embedInfo.frameCounter.onOff = true;
  if ((error = camPGR_.SetEmbeddedImageInfo(&embedInfo)) != PGRERROR_OK)
    PRINT_ERROR;

  FlyCapture2::CameraInfo camInfo;
  if ((error = camPGR_.GetCameraInfo(&camInfo)) != PGRERROR_OK)
    PRINT_ERROR;
  ROS_INFO ("camInfo.driverName = %s", camInfo.driverName);
  ROS_INFO ("camInfo.firmwareVersion = %s", camInfo.firmwareVersion);
  ROS_INFO ("camInfo.isColorCamera = %d", camInfo.isColorCamera);

  // FIXME: breaks dynamic Resizing of image
  // Query for available Format 7 modes
  FlyCapture2::Format7Info fmt7Info;
  bool supported;

  // TODO: Setup modes here (working as Raw for now...either Mono or Color...whatever the camera's raw is)
//  if(camInfo.isColorCamera)
//  {
//    k_fmt7Mode_ = FlyCapture2::MODE_0; // TODO: make dynamic
//    k_fmt7PixFmt_ = FlyCapture2::PIXEL_FORMAT_BGR; // TODO: make dynamic
//  }
//  else // Mono
//  {
//    k_fmt7Mode_ = FlyCapture2::MODE_1; // TODO: make dynamic
//    k_fmt7PixFmt_ = FlyCapture2::PIXEL_FORMAT_MONO8; // TODO: make dynamic
        k_fmt7Mode_ = FlyCapture2::MODE_0; // TODO: make dynamic
        k_fmt7PixFmt_ = FlyCapture2::PIXEL_FORMAT_RAW8; // TODO: make dynamic
//  }
  fmt7Info.mode = k_fmt7Mode_;
  error = camPGR_.GetFormat7Info( &fmt7Info, &supported );
  if (error != PGRERROR_OK)
  {
    PrintError( error );
    return false;
  }
  PrintFormat7Capabilities( fmt7Info );
  FlyCapture2::Format7ImageSettings fmt7ImageSettings;
  fmt7ImageSettings.mode = k_fmt7Mode_;
  fmt7ImageSettings.offsetX = 0;
  fmt7ImageSettings.offsetY = 0;
  fmt7ImageSettings.width = fmt7Info.maxWidth;
  fmt7ImageSettings.height = fmt7Info.maxHeight;
  fmt7ImageSettings.pixelFormat = k_fmt7PixFmt_;

  ROS_INFO("Pixel Format: 0x%08x", k_fmt7PixFmt_);


  bool valid;
  FlyCapture2::Format7PacketInfo fmt7PacketInfo;

  // Validate the settings to make sure that they are valid
  error = camPGR_.ValidateFormat7Settings(
      &fmt7ImageSettings,
      &valid,
      &fmt7PacketInfo );
  if (error != PGRERROR_OK)
  {
    PrintError( error );
    return false;
  }
//.........这里部分代码省略.........