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handle crash

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This commit is contained in:
ackimixs
2024-05-05 22:19:48 +02:00
parent de1989b246
commit f5686a3408
2 changed files with 17 additions and 2 deletions
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11
aruco/ArucoDetector.cpp
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@@ -88,7 +88,16 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat frame;
cv::Mat frameNotRotated;
cv::Mat frameDistored;
cam->getVideoFrame(frameNotRotated, 1000);
try {
cam->getVideoFrame(frameNotRotated, 1000);
} catch (cv::Exception& e) {
std::cerr << "Error: " << e.what() << std::endl;
std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> result;
result.first = -2;
return result;
}
cv::flip(frameNotRotated, frameDistored, -1);
cv::undistort(frameDistored, frame, cameraMatrix, distCoeffs);

8
arucoDetector.cpp
View File

@@ -61,7 +61,13 @@ int main(int argc, char *argv[])
usleep(500'000);
while (true) {
auto r = detector.detectArucoTags({whiteFlower, purpleFlower, solarPanel});
try {
auto r = detector.detectArucoTags({whiteFlower, purpleFlower, solarPanel});
} catch (const std::exception& ex) {
std::cerr << "Error: " << ex.what() << std::endl;
return -1;
}
code = r.first;