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rs2_get_video_stream_intrinsics no longer reports errors if not intrinsics available #13004

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merged 3 commits into from
Jun 9, 2024
Merged

rs2_get_video_stream_intrinsics no longer reports errors if not intrinsics available #13004

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8649998
rs2_get_video_stream_intrinsics no longer reports errors if none
maloel Jun 5, 2024
e687ebd
add output_arg() as syntax for exception handling in rs.cpp
maloel Jun 5, 2024
9d92c79
add profile debug for errors; output_arg for intrinsics
maloel Jun 5, 2024
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36 changes: 36 additions & 0 deletions src/api.h
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,14 @@ namespace librealsense
}
};

// Provide a way for the API to denote something as output, so it's not shown on error
// Output arguments are always pointers
struct output_arg
{
void const * pointer;
output_arg( void const * pv ) : pointer( pv ) {}
};

// Next we define type trait for testing if *t for some T* is streamable
template<typename T>
class is_streamable
Expand Down Expand Up @@ -101,6 +109,16 @@ namespace librealsense
arg_streamer<T, is_streamable<T>::value> s;
s.stream_arg(out, last, true);
}
inline void stream_args( std::ostream & out, const char * names, const output_arg & last )
{
while( *names++ != '(' ); // skip "output_arg("
while( *names == ' ' ) ++names; // skip "(" and any spaces
while( *names != ')' && *names != ' ' ) out << *names++;
out << ":";
if( ! last.pointer )
out << "nullptr";
out << "(out)";
}
template<class T, class... U> void stream_args(std::ostream & out, const char * names, const T & first, const U &... rest)
{
while (*names && *names != ',') out << *names++;
Expand All @@ -109,6 +127,12 @@ namespace librealsense
while (*names && (*names == ',' || isspace(*names))) ++names;
stream_args(out, names, rest...);
}
template<class... U> void stream_args( std::ostream & out, const char * names, const output_arg & first, const U &... rest )
{
stream_args( out, names, first );
out << ", ";
stream_args( out, names, rest... );
}



Expand Down Expand Up @@ -403,6 +427,18 @@ return __p.invoke(func);\

#define BEGIN_API_CALL try
#define NOEXCEPT_RETURN(R, ...) catch(...) { std::ostringstream ss; librealsense::stream_args(ss, #__VA_ARGS__, __VA_ARGS__); rs2_error* e; librealsense::translate_exception(__FUNCTION__, ss.str(), &e); LOG_WARNING(rs2_get_error_message(e)); rs2_free_error(e); return R; }
// If you want to avoid any errors being reported because an exception an expected API behavior:
#define EXPECTED_EXCEPTION( E, R, ... ) \
catch( E const & e ) \
{ \
if( error ) \
{ \
std::ostringstream ss; \
librealsense::stream_args( ss, #__VA_ARGS__, __VA_ARGS__ ); \
*error = new rs2_error{ e.what(), __FUNCTION__, ss.str(), RS2_EXCEPTION_TYPE_COUNT }; \
} \
return R; \
}
#define HANDLE_EXCEPTIONS_AND_RETURN(R, ...) catch(...) { std::ostringstream ss; librealsense::stream_args(ss, #__VA_ARGS__, __VA_ARGS__); librealsense::translate_exception(__FUNCTION__, ss.str(), error); return R; }
#define NOARGS_HANDLE_EXCEPTIONS_AND_RETURN(R) catch(...) { librealsense::translate_exception(__FUNCTION__, "", error); return R; }
#define NOARGS_HANDLE_EXCEPTIONS_AND_RETURN_VOID() catch(...) { librealsense::translate_exception(__FUNCTION__, "", error); }
Expand Down
33 changes: 29 additions & 4 deletions src/rs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -464,16 +464,41 @@ void rs2_delete_stream_profiles_list(rs2_stream_profile_list* list) BEGIN_API_CA
}
NOEXCEPT_RETURN(, list)

void rs2_get_video_stream_intrinsics(const rs2_stream_profile* from, rs2_intrinsics* intr, rs2_error** error) BEGIN_API_CALL

std::ostream & operator<<( std::ostream & os, rs2_stream_profile const & p )
{
VALIDATE_NOT_NULL(from);
if( ! p.profile )
{
os << "NULL";
}
else
{
os << "[ " << librealsense::get_abbr_string( p.profile->get_stream_type() );
os << " " << librealsense::get_string( p.profile->get_format() );
os << " " << p.profile->get_stream_index();
if( auto vsp = As< video_stream_profile, stream_profile_interface >( p.profile ) )
{
os << " " << vsp->get_width();
os << "x" << vsp->get_height();
}
os << " @ " << p.profile->get_framerate();
os << " ]";
}
return os;
}


void rs2_get_video_stream_intrinsics(const rs2_stream_profile* profile, rs2_intrinsics* intr, rs2_error** error) BEGIN_API_CALL
{
VALIDATE_NOT_NULL( profile );
VALIDATE_NOT_NULL(intr);

auto vid = VALIDATE_INTERFACE(from->profile, librealsense::video_stream_profile_interface);
auto vid = VALIDATE_INTERFACE( profile->profile, librealsense::video_stream_profile_interface);

*intr = vid->get_intrinsics();
}
HANDLE_EXCEPTIONS_AND_RETURN( , from, intr )
EXPECTED_EXCEPTION( not_implemented_exception, , profile, output_arg( intr ) ) // only accepted way of checking if profile has intrinsics
HANDLE_EXCEPTIONS_AND_RETURN(, profile, output_arg( intr ) )

// librealsense wrapper around a C function
class calibration_change_callback : public rs2_calibration_change_callback
Expand Down
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