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vik748vik748
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Fixing formatting issues, parameter settings display errors and catch exceptions
1 parent 2743f06 commit a32d2fa

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2 files changed

+35
-38
lines changed

2 files changed

+35
-38
lines changed

‎include/capture.h‎

Lines changed: 6 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -123,17 +123,13 @@ namespace acquisition {
123123
ros::NodeHandle nh_pvt_;
124124

125125
ros::Publisher acquisition_pub;
126-
vector<ros::Publisher> camera_image_pubs;
127-
vector<ros::Publisher> camera_info_pubs;
126+
vector<ros::Publisher> camera_image_pubs;
127+
vector<ros::Publisher> camera_info_pubs;
128128

129-
130-
vector<sensor_msgs::ImagePtr> img_msgs;
131-
vector<sensor_msgs::CameraInfo> cam_info_msgs;
132-
spinnaker_sdk_camera_driver::spinnaker_image_names mesg;
133-
134-
135-
boost::mutex queue_mutex_;
136-
129+
vector<sensor_msgs::ImagePtr> img_msgs;
130+
vector<sensor_msgs::CameraInfo> cam_info_msgs;
131+
spinnaker_sdk_camera_driver::spinnaker_image_names mesg;
132+
boost::mutex queue_mutex_;
137133
};
138134

139135
}

‎src/capture.cpp‎

Lines changed: 29 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ acquisition::Capture::~Capture(){
1212
end_acquisition();
1313
deinit_cameras();
1414

15-
// pCam = NULL;
15+
// pCam = nullptr;
1616

1717
ROS_INFO_STREAM("Clearing camList...");
1818
camList_.Clear();
@@ -147,7 +147,8 @@ void acquisition::Capture::load_cameras() {
147147
MASTER_CAM_ = cam_counter;
148148
}
149149

150-
pResultImages_.push_back(NULL);
150+
ImagePtr a_null;
151+
pResultImages_.push_back(a_null);
151152

152153
Mat img;
153154
frames_.push_back(img);
@@ -194,13 +195,11 @@ void acquisition::Capture::read_parameters() {
194195

195196
if (nh_pvt_.getParam("save_path", path_)){
196197
if(path_.front() =='~'){
197-
//ROS_INFO("Front is tilda");
198198
const char *homedir;
199199
if ((homedir = getenv("HOME")) == NULL)
200200
homedir = getpwuid(getuid())->pw_dir;
201201
std::string hd(homedir);
202202
path_.replace(0,1,hd);
203-
//ROS_INFO_STREAM("Path ="<<path_);
204203
}
205204
ROS_INFO_STREAM(" Save path set via parameter to: " << path_);
206205
}
@@ -252,56 +251,56 @@ void acquisition::Capture::read_parameters() {
252251

253252
if (nh_pvt_.getParam("utstamps", MASTER_TIMESTAMP_FOR_ALL_)){
254253
MASTER_TIMESTAMP_FOR_ALL_ = !MASTER_TIMESTAMP_FOR_ALL_;
255-
ROS_INFO(" Unique time stamps for each camera: %d",!MASTER_TIMESTAMP_FOR_ALL_);
254+
ROS_INFO(" Unique time stamps for each camera: %s",!MASTER_TIMESTAMP_FOR_ALL_?"true":"false");
256255
}
257-
else ROS_WARN(" 'utstamps' Parameter not set, using default behavior utstamps=%d",!MASTER_TIMESTAMP_FOR_ALL_);
256+
else ROS_WARN(" 'utstamps' Parameter not set, using default behavior utstamps=%s",!MASTER_TIMESTAMP_FOR_ALL_?"true":"false");
258257

259258
if (nh_pvt_.getParam("color", color_))
260-
ROS_INFO(" color set to: %d",color_);
261-
else ROS_WARN(" 'color' Parameter not set, using default behavior color=%d",color_);
259+
ROS_INFO(" color set to: %s",color_?"true":"false");
260+
else ROS_WARN(" 'color' Parameter not set, using default behavior color=%s",color_?"true":"false");
262261

263262
if (nh_pvt_.getParam("to_ros", EXPORT_TO_ROS_))
264-
ROS_INFO(" Exporting images to ROS: %d",EXPORT_TO_ROS_);
265-
else ROS_WARN(" 'to_ros' Parameter not set, using default behavior to_ros=%d",EXPORT_TO_ROS_);
263+
ROS_INFO(" Exporting images to ROS: %s",EXPORT_TO_ROS_?"true":"false");
264+
else ROS_WARN(" 'to_ros' Parameter not set, using default behavior to_ros=%s",EXPORT_TO_ROS_?"true":"false");
266265

267266
if (nh_pvt_.getParam("live", LIVE_))
268-
ROS_INFO(" Showing live images setting: %d",LIVE_);
269-
else ROS_WARN(" 'live' Parameter not set, using default behavior live=%d",LIVE_);
267+
ROS_INFO(" Showing live images setting: %s",LIVE_?"true":"false");
268+
else ROS_WARN(" 'live' Parameter not set, using default behavior live=%s",LIVE_?"true":"false");
270269

271270
if (nh_pvt_.getParam("live_grid", GRID_VIEW_)){
272271
LIVE_=LIVE_|| GRID_VIEW_;
273-
ROS_INFO(" Showing grid-style live images setting: %d",LIVE_);
274-
} else ROS_WARN(" 'live_grid' Parameter not set, using default behavior live_grid=%d",GRID_VIEW_);
272+
ROS_INFO(" Showing grid-style live images setting: %s",GRID_VIEW_?"true":"false");
273+
} else ROS_WARN(" 'live_grid' Parameter not set, using default behavior live_grid=%s",GRID_VIEW_?"true":"false");
275274

276275
if (nh_pvt_.getParam("max_rate_save", MAX_RATE_SAVE_))
277-
ROS_INFO(" Max Rate Save Mode: %d",MAX_RATE_SAVE_);
278-
else ROS_WARN(" 'max_rate_save' Parameter not set, using default behavior max_rate_save=%d",MAX_RATE_SAVE_);
276+
ROS_INFO(" Max Rate Save Mode: %s",MAX_RATE_SAVE_?"true":"false");
277+
else ROS_WARN(" 'max_rate_save' Parameter not set, using default behavior max_rate_save=%s",MAX_RATE_SAVE_?"true":"false");
279278

280279
if (nh_pvt_.getParam("time", TIME_BENCHMARK_))
281-
ROS_INFO(" Displaying timing details: %d",TIME_BENCHMARK_);
282-
else ROS_WARN(" 'time' Parameter not set, using default behavior time=%d",TIME_BENCHMARK_);
280+
ROS_INFO(" Displaying timing details: %s",TIME_BENCHMARK_?"true":"false");
281+
else ROS_WARN(" 'time' Parameter not set, using default behavior time=%s",TIME_BENCHMARK_?"true":"false");
283282

284283
if (nh_pvt_.getParam("skip", skip_num_)){
285284
if (skip_num_ >0) ROS_INFO(" No. of images to skip set to: %d",skip_num_);
286285
else {
287286
skip_num_=20;
288-
ROS_WARN(" Provided 'skip'=%d is not valid, using default behavior, skip=%d",skip_num_);
287+
ROS_WARN(" Provided 'skip' is not valid, using default behavior, skip=%d",skip_num_);
289288
}
290289
} else ROS_WARN(" 'skip' Parameter not set, using default behavior: skip=%d",skip_num_);
291290

292291
if (nh_pvt_.getParam("delay", init_delay_)){
293-
if (init_delay_>=0) ROS_INFO(" Init sleep delays set to : %d sec",skip_num_);
292+
if (init_delay_>=0) ROS_INFO(" Init sleep delays set to : %0.2f sec",init_delay_);
294293
else {
295294
init_delay_=1;
296-
ROS_WARN(" Provided 'delay'=%d is not valid, using default behavior, delay=%d",init_delay_);
295+
ROS_WARN(" Provided 'delay' is not valid, using default behavior, delay=%d",init_delay_);
297296
}
298-
} else ROS_WARN(" 'delay' Parameter not set, using default behavior: delay=%d",skip_num_);
297+
} else ROS_WARN(" 'delay' Parameter not set, using default behavior: delay=%d",init_delay_);
299298

300299
if (nh_pvt_.getParam("fps", master_fps_)){
301-
if (master_fps_>=0) ROS_INFO(" Master cam fps set to : %0.2",master_fps_);
300+
if (master_fps_>=0) ROS_INFO(" Master cam fps set to : %0.2f",master_fps_);
302301
else {
303302
master_fps_=20;
304-
ROS_WARN(" Provided 'fps'=%0.2f is not valid, using default behavior, fps=%d",master_fps_);
303+
ROS_WARN(" Provided 'fps' is not valid, using default behavior, fps=%0.2f",master_fps_);
305304
}
306305
}
307306
else ROS_WARN(" 'fps' Parameter not set, using default behavior: fps=%0.2f",master_fps_);
@@ -345,7 +344,7 @@ void acquisition::Capture::read_parameters() {
345344
if (nframes_>0){
346345
FIXED_NUM_FRAMES_ = true;
347346
ROS_INFO(" Number of frames to be recorded: %d", nframes_ );
348-
}else ROS_INFO(" Frames will be recorded until user termination", nframes_ );
347+
}else ROS_INFO(" Frames will be recorded until user termination");
349348
}else ROS_WARN(" 'frames' Parameter not set, using defult behavior, frames will be recorded until user termination");
350349
}
351350

@@ -728,7 +727,7 @@ void acquisition::Capture::run_soft_trig() {
728727
} else {
729728
imshow("Acquisition", frames_[CAM_]);
730729
char title[50];
731-
sprintf(title, "cam # = %d, cam ID = %s, cam name = %s", CAM_, cam_ids_[CAM_], cam_names_[CAM_]);
730+
sprintf(title, "cam # = %d, cam ID = %s, cam name = %s", CAM_, cam_ids_[CAM_].c_str(), cam_names_[CAM_].c_str());
732731
displayOverlay("Acquisition", title);
733732
}
734733
}
@@ -814,8 +813,11 @@ void acquisition::Capture::run_soft_trig() {
814813

815814
}
816815
}
816+
catch(const std::exception &e){
817+
ROS_FATAL_STREAM("Excption: "<<e.what());
818+
}
817819
catch(...){
818-
ROS_FATAL_STREAM("Some exception occured. \v Exiting gracefully, \n possible reason could be Camera Disconnection...");
820+
ROS_FATAL_STREAM("Some unknown exception occured. \v Exiting gracefully, \n possible reason could be Camera Disconnection...");
819821
}
820822
}
821823

@@ -1003,7 +1005,6 @@ std::string acquisition::Capture::todays_date()
10031005
char out[9];
10041006
std::time_t t=std::time(NULL);
10051007
std::strftime(out, sizeof(out), "%Y%m%d", std::localtime(&t));
1006-
std::cout<<out;
10071008
std::string td(out);
10081009
return td;
10091010
}

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