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Add ZEDTools and ZEDException (#7)
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‎README.md‎

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```
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ZEDJavaAPINativeLibrary.load();
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```
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Ensure [this test](https://github.com/ihmcrobotics/zed-java-api/blob/main/src/test/java/us/ihmc/zed/test/TestNativeLibraryLoads.java) runs on your machine before proceeding.
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After the native JNI library is loaded, programming using zed-java-api is nearly identical to zed-c-api.
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### Tools
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#### ZEDTools.errorName(int zedErrorCode)
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Retrieve the error name associated with an error code
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#### ZEDTools.errorMessage(int zedErrorCode)
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Retrieve a formatted error message from an error code
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#### ZEDTools.throwOnError(int zedErrorCode)
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Throw a ZEDException if an error code is not SL_ERROR_CODE_SUCCESS
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### OpenCV Demo
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A basic demo to display the images read from the camera is located in [DemoImageCaptureOpenCV.java](https://github.com/ihmcrobotics/zed-java-api/blob/main/src/test/java/us/ihmc/zed/test/DemoImageCaptureOpenCV.java).

‎src/main/java/us/ihmc/zed/ZEDException.java‎

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package us.ihmc.zed;
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public class ZEDException extends Exception
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{
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private final int zedErrorCode;
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public ZEDException(int zedErrorCode)
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{
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this.zedErrorCode = zedErrorCode;
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}
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@Override
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public String getMessage()
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{
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return ZEDTools.errorMessage(zedErrorCode);
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}
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}

‎src/main/java/us/ihmc/zed/ZEDTools.java‎

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package us.ihmc.zed;
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import static us.ihmc.zed.global.zed.*;
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public final class ZEDTools
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{
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public static String errorName(int zedErrorCode)
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{
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return switch (zedErrorCode)
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{
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case SL_ERROR_CODE_CORRUPTED_FRAME -> "SL_ERROR_CODE_CORRUPTED_FRAME";
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case SL_ERROR_CODE_CAMERA_REBOOTING -> "SL_ERROR_CODE_CAMERA_REBOOTING";
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case SL_ERROR_CODE_SUCCESS -> "SL_ERROR_CODE_SUCCESS";
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case SL_ERROR_CODE_FAILURE -> "SL_ERROR_CODE_FAILURE";
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case SL_ERROR_CODE_NO_GPU_COMPATIBLE -> "SL_ERROR_CODE_NO_GPU_COMPATIBLE";
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case SL_ERROR_CODE_NOT_ENOUGH_GPU_MEMORY -> "SL_ERROR_CODE_NOT_ENOUGH_GPU_MEMORY";
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case SL_ERROR_CODE_CAMERA_NOT_DETECTED -> "SL_ERROR_CODE_CAMERA_NOT_DETECTED";
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case SL_ERROR_CODE_SENSORS_NOT_INITIALIZED -> "SL_ERROR_CODE_SENSORS_NOT_INITIALIZED";
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case SL_ERROR_CODE_SENSORS_NOT_AVAILABLE -> "SL_ERROR_CODE_SENSORS_NOT_AVAILABLE";
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case SL_ERROR_CODE_INVALID_RESOLUTION -> "SL_ERROR_CODE_INVALID_RESOLUTION";
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case SL_ERROR_CODE_LOW_USB_BANDWIDTH -> "SL_ERROR_CODE_LOW_USB_BANDWIDTH";
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case SL_ERROR_CODE_CALIBRATION_FILE_NOT_AVAILABLE -> "SL_ERROR_CODE_CALIBRATION_FILE_NOT_AVAILABLE";
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case SL_ERROR_CODE_INVALID_CALIBRATION_FILE -> "SL_ERROR_CODE_INVALID_CALIBRATION_FILE";
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case SL_ERROR_CODE_INVALID_SVO_FILE -> "SL_ERROR_CODE_INVALID_SVO_FILE";
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case SL_ERROR_CODE_SVO_RECORDING_ERROR -> "SL_ERROR_CODE_SVO_RECORDING_ERROR";
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case SL_ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION -> "SL_ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION";
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case SL_ERROR_CODE_END_OF_SVOFILE_REACHED -> "SL_ERROR_CODE_END_OF_SVOFILE_REACHED";
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case SL_ERROR_CODE_INVALID_COORDINATE_SYSTEM -> "SL_ERROR_CODE_INVALID_COORDINATE_SYSTEM";
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case SL_ERROR_CODE_INVALID_FIRMWARE -> "SL_ERROR_CODE_INVALID_FIRMWARE";
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case SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS -> "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS";
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case SL_ERROR_CODE_CUDA_ERROR -> "SL_ERROR_CODE_CUDA_ERROR";
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case SL_ERROR_CODE_CAMERA_NOT_INITIALIZED -> "SL_ERROR_CODE_CAMERA_NOT_INITIALIZED";
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case SL_ERROR_CODE_NVIDIA_DRIVER_OUT_OF_DATE -> "SL_ERROR_CODE_NVIDIA_DRIVER_OUT_OF_DATE";
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case SL_ERROR_CODE_INVALID_FUNCTION_CALL -> "SL_ERROR_CODE_INVALID_FUNCTION_CALL";
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case SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION -> "SL_ERROR_CODE_CORRUPTED_SDK_INSTALLATION";
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case SL_ERROR_CODE_INCOMPATIBLE_SDK_VERSION -> "SL_ERROR_CODE_INCOMPATIBLE_SDK_VERSION";
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case SL_ERROR_CODE_INVALID_AREA_FILE -> "SL_ERROR_CODE_INVALID_AREA_FILE";
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case SL_ERROR_CODE_INCOMPATIBLE_AREA_FILE -> "SL_ERROR_CODE_INCOMPATIBLE_AREA_FILE";
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case SL_ERROR_CODE_CAMERA_FAILED_TO_SETUP -> "SL_ERROR_CODE_CAMERA_FAILED_TO_SETUP";
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case SL_ERROR_CODE_CAMERA_DETECTION_ISSUE -> "SL_ERROR_CODE_CAMERA_DETECTION_ISSUE";
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case SL_ERROR_CODE_CANNOT_START_CAMERA_STREAM -> "SL_ERROR_CODE_CANNOT_START_CAMERA_STREAM";
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case SL_ERROR_CODE_NO_GPU_DETECTED -> "SL_ERROR_CODE_NO_GPU_DETECTED";
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case SL_ERROR_CODE_PLANE_NOT_FOUND -> "SL_ERROR_CODE_PLANE_NOT_FOUND";
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case SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA -> "SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA";
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case SL_ERROR_CODE_MOTION_SENSORS_REQUIRED -> "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED";
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case SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION -> "SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION";
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case SL_ERROR_CODE_SENSORS_DATA_REQUIRED -> "SL_ERROR_CODE_SENSORS_DATA_REQUIRED";
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case SL_ERROR_CODE_CONFIGURATION_FALLBACK -> "SL_ERROR_CODE_CONFIGURATION_FALLBACK";
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default -> "UNKNOWN";
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};
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}
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public static String errorMessage(int zedErrorCode)
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{
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return "ZED Error (%d): %s".formatted(zedErrorCode, errorName(zedErrorCode));
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}
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public static void throwOnError(int zedErrorCode) throws ZEDException
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{
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if (zedErrorCode != SL_ERROR_CODE_SUCCESS)
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throw new ZEDException(zedErrorCode);
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}
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}

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