Needed folders existence and creation

src/script1.cpp

@@ -80,4 +80,3 @@ int main()
     fprintf(stderr, "Average FPS: %f\n", 1000 / avgFPS);
     return 0;
 }
-

src/script2.cpp

@@ -24,7 +24,8 @@
 #include <opencv2/imgproc.hpp>
 //#include <stdio.h>
 #include <unistd.h>
-
+#include <dirent.h>
+#include <sys/stat.h>
 
 long long getTimestamp()
 {
@@ -42,8 +43,7 @@ int main()
     int total_photos = 50;//            # Number of images to take
     int countdown = 3;//                 # Interval for count-down timer, seconds
     int font = cv::FONT_HERSHEY_SIMPLEX;// # Cowntdown timer font
-    std::string folder_name = "/home/pi/stereopi-cpp-tutorial/";    
-
+    std::string folder_name = "/home/pi/stereopi-cpp-tutorial/";     
     //Camera settimgs
     int cam_width = 1280;//            # Cam sensor width settings
     int cam_height = 480;//              # Cam sensor height settings
@@ -76,6 +76,39 @@ int main()
         return 1;
     }
 
+    // Check if needed dirs exist. If do not - try to create them.
+    std::string scenesDir = folder_name + "scenes";
+    std::string pairsDir = folder_name + "pairs";
+    DIR* dir = opendir(scenesDir.c_str());
+    if (dir)
+    {
+	closedir(dir);
+    }
+    else
+    {
+      int res = mkdir(scenesDir.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
+	if ( res == -1)
+	{
+	    fprintf(stderr, "Cannot create Scenes dir!\n");
+	    return 1;
+	}
+    }
+    dir = opendir(pairsDir.c_str());
+    if (dir)
+    {
+	closedir(dir);
+    }
+    else
+    {
+      int res = mkdir(pairsDir.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
+	if ( res == -1)
+	{
+	    fprintf(stderr, "Cannot create Pairs dir!\n");
+	    return 1;
+	}
+    }  
+
+
     int bufLen = cam_width * cam_height;
     char *buf = (char *)malloc(bufLen);
     int count = 0;
@@ -93,6 +126,7 @@ int main()
         count = fread(buf, sizeof(*buf), bufLen, fp);
 	if (count == 0)
 	  break;
+
         cv::Mat frame(cam_height, cam_width, CV_8UC1, buf);
         long long t1 = getTimestamp();
         int cntdwn_timer = countdown - (int)((t1-t2) / 1000000);

src/script4.cpp

@@ -52,12 +52,10 @@ void calibrate_one_camera(std::vector<std::vector<cv::Vec3f> > objpoints, std::v
     int N_OK = (int)objpoints.size();
     cv::Size DIM(img_width, img_height);
 
-    cv::Mat K;// = cv::Mat::zeros(3, 3, CV_32FC1);
-    cv::Mat D;// = cv::Mat::zeros(4, 1, CV_32FC1);
+    cv::Mat K;
+    cv::Mat D;
 
     cv::Vec3f pt(0, 0, 0);
-    //    std::vector<cv::Vec3f> rvecs(N_OK, pt);
-    //    std::vector<cv::Vec3f> tvecs(N_OK, pt);
     cv::Mat rvecs = cv::Mat::zeros(N_OK, 1, CV_32FC3);
     cv::Mat tvecs = cv::Mat::zeros(N_OK, 1, CV_32FC3);
 
@@ -164,6 +162,22 @@ bool calibrate_stereo_cameras(int res_x = img_width, int res_y = img_height)
 
 int main()
 {
+    // Check if calibration data folder exists.
+  DIR *dir = opendir(calibration_data_folder.c_str());
+    if (dir)
+    {
+        closedir(calibration_data_folder);
+    }
+    else
+    {
+      int res = mkdir(calibration_data_folder.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
+        if (res == -1)
+        {
+       	   fprintf(stderr, "Cannot create calibration data folder!\n");
+ 	   return 1;
+        }
+    }  
+
     // Global variables preset
     int total_photos = 50;
 

src/script6.cpp

@@ -80,11 +80,6 @@ void loadParams()
 bool stereo_depth_map(cv::Mat &left, cv::Mat &right, cv::Ptr<cv::StereoBM> bm,
 		      float &time1, float &time2, float &time3, float &time4)
 {
-
-
-    // cv::cvtColor(left, left, cv::COLOR_BGR2GRAY);
-    // cv::cvtColor(right, right, cv::COLOR_BGR2GRAY);
-
     cv::Mat disp, disp8, colored;
     long long startT = getTimestamp();
     bm->compute( left, right, disp);
@@ -170,8 +165,6 @@ int main()
     float  time1 = 0, time2 = 0, time3 = 0, time4 = 0, time5 = 0, time6 = 0, time7 = 0, time8 = 0, time9 = 0, time10 = 0, time11 = 0;
     int frameNumber = 0;
 
-    // while ((count = fread(buf, sizeof(*buf), bufLen, fp)) != 0)
-    // {
     while (true)
     {
         fseek(fp, -bufLen, SEEK_END);
@@ -206,7 +199,7 @@ int main()
 	time4 += timeShow - timeRectify;
 
 
-		// Taking a strip from our image for lidar-like mode (and saving CPU)
+	// Taking a strip from our image for lidar-like mode (and saving CPU)
         // cv::Mat imgLCut = cv::Mat(left, cv::Rect(0, 80, left.cols, 80));
         // cv::Mat imgRCut = cv::Mat(right, cv::Rect(0, 80, right.cols, 80));