Log error and return if no devices

include/mynteye/utils.h

@@ -25,14 +25,22 @@ class Device;
 
 namespace device {
 
-/** Detecting MYNT EYE devices and prompt user to select one */
+/**
+ * Detecting MYNT EYE devices and prompt user to select one.
+ * @return the selected device, or `nullptr` if none.
+ */
 MYNTEYE_API std::shared_ptr<Device> select();
 
 }  // namespace device
 
 namespace utils {
 
-/** Get real exposure time in ms from virtual value, according to its frame rate
+/**
+ * Get real exposure time in ms from virtual value, according to its frame rate.
+ * @param frame_rate the frame rate of the device.
+ * @param exposure_time the virtual exposure time.
+ * @return the real exposure time in ms, or the virtual value if frame rate is
+ * invalid.
  */
 MYNTEYE_API float get_real_exposure_time(
     std::int32_t frame_rate, std::uint16_t exposure_time);

samples/api/camera.cc

@@ -22,6 +22,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);

samples/device/camera.cc

@@ -27,6 +27,8 @@ int main(int argc, char *argv[]) {
   glog_init _(argc, argv);
 
   auto &&device = device::select();
+  if (!device)
+    return 1;
   /*
   {  // auto-exposure
     device->SetOptionValue(Option::EXPOSURE_MODE, 0);

samples/tutorials/control/auto_exposure.cc

@@ -23,6 +23,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // auto-exposure: 0
   api->SetOptionValue(Option::EXPOSURE_MODE, 0);

samples/tutorials/control/framerate.cc

@@ -24,6 +24,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
   // succeed.

samples/tutorials/control/infrared.cc

@@ -21,6 +21,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // Detect infrared add-ons
   LOG(INFO) << "Support infrared: " << std::boolalpha

samples/tutorials/control/manual_exposure.cc

@@ -23,6 +23,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // manual-exposure: 1
   api->SetOptionValue(Option::EXPOSURE_MODE, 1);

samples/tutorials/data/get_depth.cc

@@ -21,6 +21,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   api->EnableStreamData(Stream::DEPTH);
 

samples/tutorials/data/get_device_info.cc

@@ -19,6 +19,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME);
   LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER);

samples/tutorials/data/get_disparity.cc

@@ -21,6 +21,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // api->EnableStreamData(Stream::DISPARITY);
   api->EnableStreamData(Stream::DISPARITY_NORMALIZED);

samples/tutorials/data/get_from_callbacks.cc

@@ -28,6 +28,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // Attention: must not block the callbacks.
 

samples/tutorials/data/get_img_params.cc

@@ -19,6 +19,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)

samples/tutorials/data/get_imu.cc

@@ -23,6 +23,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   // Enable this will cache the motion datas until you get them.
   api->EnableMotionDatas();

samples/tutorials/data/get_imu_params.cc

@@ -19,6 +19,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   LOG(INFO) << "Motion intrinsics: {" << api->GetMotionIntrinsics() << "}";
   LOG(INFO) << "Motion extrinsics left to imu: {"

samples/tutorials/data/get_points.cc

@@ -23,6 +23,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   api->EnableStreamData(Stream::POINTS);
 

samples/tutorials/data/get_stereo.cc

@@ -21,6 +21,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   api->Start(Source::VIDEO_STREAMING);
 

samples/tutorials/data/get_stereo_rectified.cc

@@ -21,6 +21,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   api->EnableStreamData(Stream::LEFT_RECTIFIED);
   api->EnableStreamData(Stream::RIGHT_RECTIFIED);

samples/tutorials/data/get_with_plugin.cc

@@ -21,6 +21,8 @@ MYNTEYE_USE_NAMESPACE
 
 int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
 
   api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");
 

src/api/api.cc

@@ -41,17 +41,24 @@ std::shared_ptr<API> API::Create() {
 }
 
 std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
+  if (!device)
+    return nullptr;
   return std::make_shared<API>(device);
 }
 
 std::shared_ptr<API> API::Create(int argc, char *argv[]) {
   static glog_init _(argc, argv);
-  return std::make_shared<API>(device::select());
+  auto &&device = device::select();
+  if (!device)
+    return nullptr;
+  return std::make_shared<API>(device);
 }
 
 std::shared_ptr<API> API::Create(
     int argc, char *argv[], std::shared_ptr<Device> device) {
   static glog_init _(argc, argv);
+  if (!device)
+    return nullptr;
   return std::make_shared<API>(device);
 }
 

src/api/api.h

@@ -51,9 +51,35 @@ class MYNTEYE_API API {
   explicit API(std::shared_ptr<Device> device);
   /*virtual*/ ~API();
 
+  /**
+   * Create the API instance.
+   * @return the API instance.
+   * @note This will call device::select() to select a device.
+   */
   static std::shared_ptr<API> Create();
+  /**
+   * Create the API instance.
+   * @param device the selected device.
+   * @return the API instance.
+   */
   static std::shared_ptr<API> Create(std::shared_ptr<Device> device);
+  /**
+   * Create the API instance.
+   * @param argc the arg count.
+   * @param argv the arg values.
+   * @return the API instance.
+   * @note This will init glog with args and call device::select() to select a
+   * device.
+   */
   static std::shared_ptr<API> Create(int argc, char *argv[]);
+  /**
+   * Create the API instance.
+   * @param argc the arg count.
+   * @param argv the arg values.
+   * @param device the selected device.
+   * @return the API instance.
+   * @note This will init glog with args.
+   */
   static std::shared_ptr<API> Create(
       int argc, char *argv[], std::shared_ptr<Device> device);
 

src/public/utils.cc

@@ -28,7 +28,10 @@ std::shared_ptr<Device> select() {
   auto &&devices = context.devices();
 
   size_t n = devices.size();
-  LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
+  if (n <= 0) {
+    LOG(ERROR) << "No MYNT EYE devices :(";
+    return nullptr;
+  }
 
   LOG(INFO) << "MYNT EYE devices:";
   for (size_t i = 0; i < n; i++) {

tools/dataset/record.cc

@@ -29,6 +29,8 @@ int main(int argc, char *argv[]) {
   glog_init _(argc, argv);
 
   auto &&device = device::select();
+  if (!device)
+    return 1;
   /*
   {  // auto-exposure
     device->SetOptionValue(Option::EXPOSURE_MODE, 0);

tools/writer/device_info_writer.cc

@@ -32,6 +32,8 @@ int main(int argc, char *argv[]) {
   }
 
   auto &&device = device::select();
+  if (!device)
+    return 1;
 
   tools::DeviceWriter writer(device);
   writer.WriteDeviceInfo(filepath);

tools/writer/img_params_writer.cc

@@ -32,6 +32,8 @@ int main(int argc, char *argv[]) {
   }
 
   auto &&device = device::select();
+  if (!device)
+    return 1;
 
   tools::DeviceWriter writer(device);
   writer.WriteImgParams(filepath);

tools/writer/imu_params_writer.cc

@@ -32,6 +32,8 @@ int main(int argc, char *argv[]) {
   }
 
   auto &&device = device::select();
+  if (!device)
+    return 1;
 
   tools::DeviceWriter writer(device);
   writer.WriteImuParams(filepath);

tools/writer/save_all_infos.cc

@@ -29,6 +29,8 @@ int main(int argc, char *argv[]) {
   }
 
   auto &&device = device::select();
+  if (!device)
+    return 1;
 
   dir.append(OS_SEP "SN").append(device->GetInfo()->serial_number);