MultiProfilerErrorStatus.h

#pragma once
#include <string>
#include <unordered_map>
#include "api_global.h"
 
namespace mmind {
namespace eye {
class MMIND_API_EXPORT MultiProfilerErrorStatus
{
public:
    enum ErrorCode {
        MMIND_STATUS_SUCCESS = 0, //< Success.
 
        // error code for calibration
        MMIND_STATUS_EMPTY_DEPTH_IMAGE = -1,
        MMIND_STATUS_PLANE_SEGMENTATION_FAILURE = -2,
        MMIND_STATUS_NONE_PARALLEL_PLANES = -3,
        MMIND_STATUS_OVERMUCH_PARALLEL_PLANES = -4,
        MMIND_STATUS_REORDER_PLANES_FAILURE = -5,
        MMIND_STATUS_REPROJECT_ERROR_HIGH = -6,
        MMIND_STATUS_INVALID_ROI = -7,
 
        // error code for stitcher
        MMIND_STATUS_NON_STANDARD_RESOLUTION = -8,
        MMIND_STATUS_CAMERA_MODEL_ERROR = -9,
        MMIND_STATUS_INVALID_BOUNDARY_VALUE = -10,
        MMIND_STATUS_FUSION_POINT_EXCEED_MEMORY = -11,
        MMIND_STATUS_MULTI_STITCH_CAMERA_MODEL_EMPTY = -12,
        MMIND_STATUS_MULTI_STITCH_PARAMS_EMPTY = -13,
        MMIND_STATUS_PARAMS_ARE_NOT_CHECKED = -14,
        MMIND_STATUS_POINT_CLOUDS_EMPTY = -15,
        MMIND_STATUS_NO_IMAGE_AVAILABLE = -16,
        MMIND_STATUS_DEPTH_INTENSITY_IMAGE_SIZE_UNMATCHED = -17,
        MMIND_STATUS_DEPTH_IMAGE_TYPE_WRONG = -18,
        MMIND_STATUS_INTENSITY_IMAGE_TYPE_WRONG = -19,
        MMIND_STATUS_MAJOR_AND_MINOR_RESOLUTION_INCONSISTENCY = -20,
        MMIND_STATUS_MULTI_STITCH_PARAMS_SIZE_INCONSISTENCY = -21,
        MMIND_STATUS_MULTI_FUSION_PARAMS_SIZE_INCONSISTENCY = -22,
        MMIND_STATUS_MINOR_INFO_UNMATCHED_IN_FUSION = -23,
        MMIND_STATUS_EXTRACT_IMAGE_INFO_ERROR = -24,
        MMIND_STATUS_EMPTY_BIASES_IN_FUSION = -25,
        MMIND_STATUS_IMAGE_AND_MASK_SIZE_UNMATCHED_IN_FUSION = -26,
 
        // error code for checking validity
        MMIND_STATUS_INVALID_PARAM = -27,
        MMIND_STATUS_INVALID_POSITIVE_PARAM = -28,
        MMIND_STATUS_INVALID_IMAGE_CONFIG_PAIR = -29,
        MMIND_STATUS_INVALID_IMAGE_RESULT_PAIR = -30,
        MMIND_STATUS_EMPTY_MULTISYSTEM_CONFIG = -31,
        MMIND_STATUS_INVALID_ROTATION_MATRIX = -32,
        MMIND_STATUS_INVALID_MOVE_DIR_VECTOR = -33,
        MMIND_STATUS_INVALID_MOVE_DIR_VECTOR_SIGN = -34,
        MMIND_STATUS_INVALID_TOP_LENGTH = -35,
        MMIND_STATUS_INVALID_ROTATE_RADIUS_ANGLE_MODE = -36,
        MMIND_STATUS_INVALID_ROTATE_RADIUS_WIDE_MODE = -37,
        MMIND_STATUS_INVALID_ROTATE_ANGLE_ANGLE_MODE = -38,
        MMIND_STATUS_INVALID_ROTATE_ANGLE_WIDE_MODE = -39,
        MMIND_STATUS_INVALID_TRANSLATE_DISTANCE_ANGLE_MODE = -40,
        MMIND_STATUS_INVALID_ROTATE_AXIS_ANGLE_MODE = -41,
        MMIND_STATUS_INVALID_ROTATE_AXIS_WIDE_MODE = -42,
        MMIND_STATUS_INVALID_TRANSLATE_AXIS_ANGLE_MODE = -43,
        MMIND_STATUS_INVALID_TRANSLATE_AXIS_WIDE_MODE = -44,
        MMIND_STATUS_INVALID_DOWNSAMPLE = -45,
        MMIND_STATUS_INVALID_DEPTH_GROUPID = -46,
        MMIND_STATUS_INVALID_CONFIG_GROUPID = -47,
        MMIND_STATUS_INVALID_RESULT_GROUPID = -48,
 
        // error code for IO
        MMIND_STATUS_EMPTY_PARAMS = -49,
 
        // error code for load calib files
        MMIND_STATUS_CONFIG_LOAD_FAILURE = -50,
        MMIND_STATUS_RESULT_LOAD_FAILURE = -51,
        MMIND_STATUS_EVALS_LOAD_FAILURE = -52,
        MMIND_STATUS_DEPTH_LOAD_FAILURE = -53,
 
        // error code for stitcher
        MMIND_STATUS_INVALID_RESOLUTION = -54,
 
        // error code for clouds stitch
        MMIND_STATUS_DATA_NOT_SUPPORTED_BY_CURRENT_CLASS = -55,
        MMIND_STATUS_PLEASE_STITCH_FIRST = -56,
        MMIND_STATUS_ONLY_POINT_CLOUD_WITHOUT_INTENSITY_AVAILABLE = -57,
        MMIND_STATUS_VOXEL_GRID_OVERFLOW = -58,
        MMIND_STATUS_REFINED_RELIABILITY_TOO_LOW = -59,
        MMIND_STATUS_NO_POINT_MATCHED_IN_REGISTRATION_STEP = -60,
        MMIND_STATUS_INITIALIZED_UNSUPPORTED_STITCHER_TYPE = -61,
        MMIND_STATUS_TRANSFORM_REFINE_PARAMS_EMPTY = -62,
        MMIND_STATUS_MULTIRING_REGISTRATION_UNSUPPORT = -63,
        MMIND_STATUS_WRONG_KNN_POINT_NUMBER = -64,
        MMIND_STATUS_STITCH_OPTION_NOT_SUPPORTED = -65,
        MMIND_STATUS_PARAM_REFINE_OPTION_NOT_SUPPORTED = -66,
 
        // error code for calibration
        MMIND_STATUS_EMPTY_CONFIG = -67,
 
        // error code for checking validity
        MMIND_STATUS_INVALID_NON_NEGATIVE_PARAM = -68,
        MMIND_STATUS_INVALID_REF_POSITION_GROUPID = -69,
        MMIND_STATUS_INVALID_CALIB_RESULT = -70,
 
        // error code for single camera corrected
        MMIND_STATUS_SINGLE_CAMERA_CORRECTION_PARAMS_NOT_CHECKED = -71,
        MMIND_STATUS_INVALID_IMAGE_SIZE = -72,
        MMIND_STATUS_INVALID_IMAGE_RESOLUTION = -73,
 
        // error code for wide expansion stitch
        MMIND_STATUS_LACK_OF_CAMERA_CONSISTENT_INFORMATION = -74,
    };
 
    enum ErrorSource { System, MajorDevice, MinorDevice };
 
    MultiProfilerErrorStatus() = default;
    MultiProfilerErrorStatus(ErrorCode code, const std::string& message)
        : errorCode(code), errorDescription(message)
    {
    }
    MultiProfilerErrorStatus(ErrorCode code, ErrorSource source = System, unsigned int groupID = 0,
                             const std::string& paraName = "")
        : errorSource(source), groupID(groupID)
    {
        setErrorCodeAndDescription(code, paraName);
    }
 
    bool isOK() const
    {
        return errorCode == MMIND_STATUS_SUCCESS ||
               errorCode == MMIND_STATUS_NON_STANDARD_RESOLUTION;
    }
 
    void setErrorCodeAndDescription(const ErrorCode& code)
    {
        this->errorCode = code;
        this->errorDescription = errorInfoMap.at(code);
    }
 
    void setErrorCodeAndDescription(const ErrorCode& code, const std::string& paraName)
    {
        this->errorCode = code;
        this->errorDescription = errorInfoMap.at(code) + paraName;
    }
 
    unsigned int groupID = 0;
    ErrorSource errorSource = System;
    ErrorCode errorCode = MMIND_STATUS_SUCCESS;
    std::string errorDescription = "Success";
 
private:
    static const std::unordered_map<ErrorCode, std::string> errorInfoMap;
};
} // namespace eye
} // namespace mmind