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Add SDK error judgment

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This commit is contained in:
jj
2024-10-07 17:02:36 +08:00
parent dfdbbb2411
commit ef6a091cba
1 changed files with 27 additions and 19 deletions
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orbbec_camera/tools/multi_save_rgbir_node.hpp
+27 -19
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@@ -11,25 +11,33 @@
class MultiCameraSubscriber : public rclcpp::Node {
public:
MultiCameraSubscriber() : Node("multi_camera_subscriber") {
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
std::string serial = device_info->serialNumber();
std::string uid = device_info->uid();
auto usb_port = orbbec_camera::parseUsbPort(uid);
int vid = device_info->vid();
int pid = device_info->pid();
serial_numbers_[usb_port] = serial;
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":vid: " << std::hex << vid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":pid: " << std::hex << pid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":usb_port: " << usb_port);
color_frame_counters_[count] = 0;
ir_frame_counters_[count] = 0;
count++;
try {
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
std::string serial = device_info->serialNumber();
std::string uid = device_info->uid();
auto usb_port = orbbec_camera::parseUsbPort(uid);
int vid = device_info->vid();
int pid = device_info->pid();
serial_numbers_[usb_port] = serial;
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":vid: " << std::hex << vid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":pid: " << std::hex << pid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":usb_port: " << usb_port);
color_frame_counters_[count] = 0;
ir_frame_counters_[count] = 0;
count++;
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(get_logger(), e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(get_logger(), e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(get_logger(), "unknown error");
}
this->declare_parameter<std::vector<std::string>>("ir_topics", std::vector<std::string>());