v02

tum_vi/converter.cpp

@@ -0,0 +1,49 @@
+//
+// Created by ivan on 25.01.2022.
+//
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <string>
+
+void DSO2CSV(const std::string& path, const std::string& filename){
+    std::ifstream inputFile;
+    std::ofstream outputFile;
+    inputFile.open(path + "/" + filename);
+    std::cout << "Open inpput file success! " << std::endl;
+    std::cout << "I'm going to open file: " + path + "/" + filename.substr(0, filename.size() - 4) + "_converted.txt" << std::endl;
+    outputFile.open(path + "/" + filename.substr(0, filename.size() - 4) + "_converted.txt");
+    if (!inputFile or !outputFile){
+        std::cout << "Failed to open one of the files. Exiting..." << std::endl;
+        exit(EXIT_SUCCESS);
+    }
+    outputFile << "time[s] x y z qx qy qz qw" << std::endl;
+    std::string tmp, comma = " ";
+
+    while (!inputFile.eof()){
+        inputFile >> tmp;
+        tmp = std::to_string(std::stod(tmp) * 1000000000.0);
+        outputFile << tmp << comma;
+
+        for (int i=1; i<7; i++){
+            inputFile >> tmp;
+            outputFile << tmp << comma;
+        }
+        // Last step without comma
+        inputFile >> tmp;
+        outputFile << tmp << std::endl;
+    }
+
+    inputFile.close();
+    outputFile.close();
+}
+
+int main(int argc, char **argv){
+    //std::string path = "/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/tum_mono_vi/dataset-corridor4_512_16/dso";
+    std::string path = argv[1];
+    //std::string filename = "result";
+    std::string filename = argv[2];
+
+    DSO2CSV(path, filename);
+    std::cout << "Convert is success" << std::endl;
+}