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