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Export: fixed calibration not exported if camera name is not set. For multi-camera, added index suffix to yaml.

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matlabbe
2021-04-09 16:20:08 -04:00
parent b92f55be43
commit f4207979ad
3 changed files with 15 additions and 4 deletions
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6
corelib/src/CameraModel.cpp
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@@ -366,7 +366,11 @@ bool CameraModel::load(const std::string & directory, const std::string & camera
bool CameraModel::save(const std::string & directory) const bool CameraModel::save(const std::string & directory) const
{ {
std::string filePath = directory+"/"+name_+".yaml"; if(name_.empty())
{
UWARN("Camera name is empty, will use general \"camera\" as name.");
}
std::string filePath = directory+"/"+(name_.empty()?"camera":name_)+".yaml";
if(!filePath.empty() && (!K_.empty() || !D_.empty() || !R_.empty() || !P_.empty())) if(!filePath.empty() && (!K_.empty() || !D_.empty() || !R_.empty() || !P_.empty()))
{ {
UINFO("Saving calibration to file \"%s\"", filePath.c_str()); UINFO("Saving calibration to file \"%s\"", filePath.c_str());

2
corelib/src/OccupancyGrid.cpp
View File

@@ -354,7 +354,7 @@ void OccupancyGrid::createLocalMap(
} }
else else
{ {
UWARN("Cannot create local map, scan is empty (node=%d).", node.id()); UWARN("Cannot create local map, scan is empty (node=%d, %s=false).", node.id(), Parameters::kGridFromDepth().c_str());
} }
} }
else else

11
tools/Export/main.cpp
View File

@@ -671,7 +671,7 @@ int main(int argc, char * argv[])
if(exportImages && !rgb.empty()) if(exportImages && !rgb.empty())
{ {
std::string dirSuffix = (depth.type() != CV_16UC1 && depth.type() != CV_32FC1)?"rgb":"left"; std::string dirSuffix = (depth.type() != CV_16UC1 && depth.type() != CV_32FC1)?"left":"rgb";
std::string dir = outputDirectory+"/"+baseName+"_"+dirSuffix; std::string dir = outputDirectory+"/"+baseName+"_"+dirSuffix;
UDirectory::makeDir(dir); UDirectory::makeDir(dir);
std::string outputPath=dir+"/"+(exportImagesId?uNumber2Str(iter->first):uFormat("%f",node.getStamp()))+".jpg"; std::string outputPath=dir+"/"+(exportImagesId?uNumber2Str(iter->first):uFormat("%f",node.getStamp()))+".jpg";
@@ -707,7 +707,14 @@ int main(int argc, char * argv[])
{ {
for(size_t i=0; i<models.size(); ++i) for(size_t i=0; i<models.size(); ++i)
{ {
models[i].save(outputDirectory); CameraModel model = models[i];
if(models.size() > 1) {
std::string prefix = model.name();
if(prefix.empty())
prefix = "camera";
model.setName(prefix + "_" + uNumber2Str((int)i));
}
model.save(outputDirectory);
} }
calibSaved = !models.empty(); calibSaved = !models.empty();
if(node.sensorData().stereoCameraModel().isValidForProjection()) if(node.sensorData().stereoCameraModel().isValidForProjection())