Clarify RealSense examples (SpectacularAI#41)

Author: pekkaran

cpp/oak/README.md

@@ -2,7 +2,7 @@
 
 You can find the non-commercial C++ SDK for OAK-D from https://github.com/SpectacularAI/sdk/releases.
 
-For commercial licenses and version for other OS and CPU arthicectures, contact us at https://www.spectacularai.com/#contact.
+For commercial licenses and version for other OS and CPU architectures, contact us at https://www.spectacularai.com/#contact.
 
 ## Linux
 

cpp/realsense/README.md

@@ -2,19 +2,21 @@
 
 You can find the non-commercial C++ SDK for RealSense from https://github.com/SpectacularAI/sdk/releases.
 
-For commercial licenses and version for other OS and CPU arthicectures, contact us at https://www.spectacularai.com/#contact.
+For commercial licenses and version for other OS and CPU architectures, contact us at https://www.spectacularai.com/#contact.
 
 ## Linux
 
 ### Quick start
 
- 1. Unpack the SDK archive
- 2. If you have not used the RealSense device before, run
+ 1. If you have not used the RealSense device before, run from the [librealsense GitHub repository](https://github.com/IntelRealSense/librealsense):
 
-        ./bin/3rdparty/librealsense/setup_udev_rules.sh
+        ./scripts/setup_udev_rules.sh
 
- 3. Attach your RealSense D4XX or D3XX device to a USB3 port, using a USB3 cable
- 4. Run the JSONL example:
+ 2. Attach your RealSense D4XX or D3XX device to a USB3 port, using a USB3 cable
+
+ 3. Unpack the Spectacular AI SDK archive
+
+ 4. In the extracted directory for your platform, run the pre-compiled example binary:
 
         cd bin
         ./vio_jsonl
@@ -61,7 +63,7 @@ For commercial licenses and version for other OS and CPU arthicectures, contact
 
 ### Using as a library
 
-You must first install DepthAI. Todo this, you need to install following tools if you don't already have them:
+First install the following tools if you don't already have them:
 * Install Git for Windows https://git-scm.com
 * Install Visual Studio Community 2019 https://visualstudio.microsoft.com/vs/community/
   * When launching, install dependencies for "Desktop Development with C++"

cpp/realsense/helpers.hpp

@@ -0,0 +1,51 @@
+#include <sys/stat.h>
+
+#ifdef _MSC_VER
+#include <direct.h>
+#endif
+
+int makeDir(const std::string &dir) {
+#ifdef _MSC_VER
+    return _mkdir(dir.c_str());
+#else
+    mode_t mode = 0755;
+    return mkdir(dir.c_str(), mode);
+#endif
+}
+
+bool folderExists(const std::string &folder) {
+#ifdef _MSC_VER
+    struct _stat info;
+    if (_stat(folder.c_str(), &info) != 0) return false;
+    return (info.st_mode & _S_IFDIR) != 0;
+#else
+    struct stat info;
+    if (stat(folder.c_str(), &info) != 0) return false;
+    return (info.st_mode & S_IFDIR) != 0;
+#endif
+}
+
+bool createFolders(const std::string &folder) {
+    int ret = makeDir(folder);
+    if (ret == 0) return true;
+
+    switch (errno) {
+        case ENOENT: {
+            size_t pos = folder.find_last_of('/');
+            if (pos == std::string::npos)
+#ifdef _MSC_VER
+                pos = folder.find_last_of('\\');
+            if (pos == std::string::npos)
+#endif
+                return false;
+            if (!createFolders(folder.substr(0, pos)))
+                return false;
+            return 0 == makeDir(folder);
+        }
+        case EEXIST:
+            return folderExists(folder);
+
+        default:
+            return false;
+    }
+}

cpp/realsense/vio_mapper.cpp

@@ -15,6 +15,8 @@
 #include <cstdlib>
 #include <set>
 
+#include "helpers.hpp"
+
 namespace {
 struct ImageToSave {
     std::string fileName;
@@ -50,6 +52,7 @@ std::function<void()> buildImageWriter(
             auto img = queue.front();
             queue.pop_front();
             lock.unlock();
+            // If this line crashes, OpenCV probably has been built without PNG support.
             cv::imwrite(img.fileName.c_str(), img.mat);
         }
     };
@@ -98,6 +101,7 @@ int main(int argc, char** argv) {
     std::string recordingFolder;
     if (argc >= 2) {
         recordingFolder = argv[1];
+        createFolders(recordingFolder);
     } else {
         std::cerr
             << "Usage: " << argv[0] << " /path/to/recording/folder" << std::endl;

cpp/realsense/vio_mapper_legacy.cpp

@@ -13,6 +13,8 @@
 #include <atomic>
 #include <cstdlib>
 
+#include "helpers.hpp"
+
 namespace {
 struct ImageToSave {
     std::string fileName;
@@ -38,7 +40,7 @@ std::function<void()> buildImageWriter(
             auto img = queue.front();
             queue.pop_front();
             lock.unlock();
-
+            // If this line crashes, OpenCV probably has been built without PNG support.
             cv::imwrite(img.fileName.c_str(), img.mat);
         }
     };
@@ -51,6 +53,7 @@ int main(int argc, char** argv) {
     int keyFrameInterval = 10;
     if (argc >= 2) {
         recordingFolder = argv[1];
+        createFolders(recordingFolder);
         if (argc >= 3) {
             keyFrameInterval = std::stoi(argv[2]);
         }