c++ read and save txt

 read and save 

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#include "util/image_util.h"   #ifdef USE_PANGOLIN_VIEWER #include "pangolin_viewer/viewer.h" #elif USE_SOCKET_PUBLISHER #include "socket_publisher/publisher.h" #endif   #include "openvslam/system.h" #include "openvslam/config.h"   #include <iostream> #include <chrono> #include <numeric>   #include <opencv2/core/core.hpp> #include <opencv2/imgcodecs.hpp> #include <spdlog/spdlog.h> #include <popl.hpp> // 打印精度控制 #include <iostream> #include <iomanip>     using namespace std;   #ifdef USE_STACK_TRACE_LOGGER #include <glog/logging.h> #endif   #ifdef USE_GOOGLE_PERFTOOLS #include <gperftools/profiler.h> #endif       void LoadImages(const string &strPathToSequence, vector<string> &vstrImageFilenames, vector<string> &vTimestamps, vector<vector<double>> &GPSDataList) {     ifstream fTimes;     string strPathTimeFile = strPathToSequence + "/FHY_config/FHY_gps.txt";           // load image list     FILE* file;     file = std::fopen(strPathTimeFile.c_str() , "r"); //.c_str()     if(file == NULL){         printf("cannot find file: %s  \n", strPathTimeFile.c_str());                    return ;             }        char timeshara_c[30];     char lat_c[30], lon_c[30], alt_c[30];                 vector<string> imageNameTimeList;        //vector<vector<string>> GPSDataList;           // 按照string 读取出来 容易保存超高精度     while (fscanf(file, "%s %s %s %s", &timeshara_c, &lat_c, &lon_c, &alt_c) != EOF)     ////%lf之间应该有逗号，因为没有逗号只能读第一个数。用&是因为要把数存到对应数组元素的地址中去。\n是换行读取     //while (fscanf(file, "%lf %lf %lf %lf", &timesharap_l, &lat_l, &lon_l, &alt_l) != EOF)     {               string timesharap_s;         string lat_s, lon_s, alt_s;               timesharap_s=(string(timeshara_c)); //stod         lat_s=(string(lat_c));         lon_s=(string(lon_c));         alt_s=(string(alt_c));                       double timesharap_d;         double lat_d, lon_d, alt_d;                  timesharap_d=std::stod(timesharap_s);         lat_d=std::stod(lat_s);         lon_d=std::stod(lon_s);         alt_d=std::stod(alt_s);                  imageNameTimeList.push_back(timesharap_s);                  vTimestamps.push_back(timesharap_s);           //cout<<"timesharap_s  "<<timesharap_s<< "   timesharap_d  "<<timesharap_d<<endl;            vector<double> gpsdata_i;         gpsdata_i.push_back(timesharap_d);         gpsdata_i.push_back(lat_d);         gpsdata_i.push_back(lon_d);         gpsdata_i.push_back(alt_d);         GPSDataList.push_back(gpsdata_i);            std::cout<< fixed << setprecision(18)   <<"timesharap_string  "<<timesharap_s<< "   timesharap_double18  "<<timesharap_d << ' '<<  setprecision(18)  <<lat_s<< " " << lon_s <<" "<<alt_s<<std::endl;               }     std::fclose(file);           string strPrefixLeft = strPathToSequence + "/left/";        const int nTimes = vTimestamps.size();     vstrImageFilenames.resize(nTimes);        for(int i=0; i<nTimes; i++)     {         //stringstream ss;         //ss << setfill('0') << setw(10) << i;            vstrImageFilenames[i] = strPrefixLeft + imageNameTimeList[i] + ".png";           //cout<< vstrImageFilenames[i] <<endl;     } }       vector<string> vstrImageFilenames;  // 图像路径     vector<double> vTimestamps;    // 时间戳  也就是图像名字     vector<vector<double>> GPSDataList;// 保存GPS数据列表   //==============================跟踪进程========================================= void mono_tracking(const std::shared_ptr<openvslam::config>& cfg,                    const std::string& vocab_file_path,                    const std::string& image_dir_path,                    const std::string& mask_img_path,                    const unsigned int frame_skip,                    const bool no_sleep, const bool auto_term,                    const bool eval_log, const std::string& map_db_path,                    std::string &data_path,                    vector<string> &vstrImageFilenames,                    vector<string> &vTimestamps,                           vector<vector<double>> &GPSDataList                    ) {     // load the mask image     const cv::Mat mask = mask_img_path.empty() ? cv::Mat{} : cv::imread(mask_img_path, cv::IMREAD_GRAYSCALE);                 //const image_sequence sequence(image_dir_path, cfg->camera_->fps_);     //const auto frames = sequence.get_frames();       int nImages = vstrImageFilenames.size();         // build a SLAM system     openvslam::system SLAM(cfg, vocab_file_path);     // startup the SLAM process     SLAM.startup();   #ifdef USE_PANGOLIN_VIEWER     pangolin_viewer::viewer viewer(cfg, &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER     socket_publisher::publisher publisher(cfg, &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif       std::vector<double> track_times;     track_times.reserve(nImages);       // run the SLAM in another thread     std::thread thread([&]() {           string path= data_path+"/openvslam_outdata/slam_xyzgps.txt";         std::ofstream ofs(path, std::ios::out);         if (!ofs.is_open()) {             spdlog::critical("cannot create a file at {}", path);             throw std::runtime_error("cannot create a file at " + path);         }             for (unsigned int i = 0; i < nImages; ++i) {             //const auto& frame = frames.at(i);               double timesharpi_fps=(1.0 / cfg->camera_->fps_) * i; // 根据帧率控制读取离线图像的速度             double timesharpi1_fps=(1.0 / cfg->camera_->fps_) * (i+1);                 const auto img = cv::imread(vstrImageFilenames[i], cv::IMREAD_UNCHANGED);               const auto tp_1 = std::chrono::steady_clock::now();               if (!img.empty() && (i % frame_skip == 0)) {                 // input the current frame and estimate the camera pose                 //=======================识别当前帧================                 // 这里的位姿并没有经历过局部和全局优化                 //double img_time_sharp=std::stod(vTimestamps[i]);//  time will lost  no img name                 double img_time_sharp=i;                                    Eigen::Matrix4d cam_pose_cw  = SLAM.feed_monocular_frame(img, img_time_sharp , mask);                   Eigen::Matrix4d cam_pose_wc = cam_pose_cw.inverse();                   Eigen::Matrix3d rot_wc = cam_pose_wc.block<3, 3>(0, 0);                 Eigen::Vector3d trans_wc = cam_pose_wc.block<3, 1>(0, 3);                 Eigen::Quaterniond quat_wc = Eigen::Quaterniond(rot_wc);                   cout << fixed <<  std::setprecision(4)                     //<< vTimestamps[i] << " "                     << i  << " "                     << std::setprecision(9)                     << trans_wc(0) << " " << trans_wc(1) << " " << trans_wc(2) << " "                     //<< quat_wc.x() << " " << quat_wc.y() << " " << quat_wc.z() << " " << quat_wc.w() << std::endl;                     << GPSDataList[i][1] << " " << GPSDataList[i][2] << " " << GPSDataList[i][3] << std::endl;                     ofs <<  fixed << std::setprecision(4)                             //<< vTimestamps[i]  << " "                             << i  << " "                             << std::setprecision(9)                             << trans_wc(0) << " " << trans_wc(1) << " " << trans_wc(2) << " "                             << GPSDataList[i][1] << " " << GPSDataList[i][2] << " " << GPSDataList[i][3] << std::endl;                                                                  }               const auto tp_2 = std::chrono::steady_clock::now();               const auto track_time = std::chrono::duration_cast<std::chrono::duration<double>>(tp_2 - tp_1).count();             if (i % frame_skip == 0) {                 track_times.push_back(track_time);             }               // wait until the timestamp of the next frame             if (!no_sleep && i < nImages - 1) {                 //// 根据帧率控制读取离线图像的速度                 const auto wait_time = timesharpi1_fps - (timesharpi_fps+ track_time);                 if (0.0 < wait_time) {                     //std::this_thread::sleep_for(std::chrono::microseconds(static_cast<unsigned int>(wait_time * 1e6)));                 }             }               // check if the termination of SLAM system is requested or not             if (SLAM.terminate_is_requested()) {                 break;             }         }           // wait until the loop BA is finished         while (SLAM.loop_BA_is_running()) {             std::this_thread::sleep_for(std::chrono::microseconds(5000));         }           // automatically close the viewer         #ifdef USE_PANGOLIN_VIEWER                 if (auto_term) {                     viewer.request_terminate();                 }         #elif USE_SOCKET_PUBLISHER                 if (auto_term) {                     publisher.request_terminate();                 }         #endif             ofs.close();           });       // run the viewer in the current thread #ifdef USE_PANGOLIN_VIEWER     viewer.run(); #elif USE_SOCKET_PUBLISHER     publisher.run(); #endif       thread.join();       // shutdown the SLAM process     SLAM.shutdown();       if (1) {         // output the trajectories for evaluation         SLAM.save_frame_trajectory(data_path+"/openvslam_outdata/frame_trajectory.txt", "TUM");         SLAM.save_keyframe_trajectory(data_path+"/openvslam_outdata/keyframe_trajectory.txt", "TUM");         // output the tracking times for evaluation         std::ofstream ofs(data_path+"/openvslam_outdata/track_times.txt", std::ios::out);         if (ofs.is_open()) {             for (const auto track_time : track_times) {                 ofs << track_time << std::endl;             }             ofs.close();         }     }       if (!map_db_path.empty()) {         // output the map database         SLAM.save_map_database(map_db_path);      }       std::sort(track_times.begin(), track_times.end());     const auto total_track_time = std::accumulate(track_times.begin(), track_times.end(), 0.0);     std::cout << "median tracking time: " << track_times.at(track_times.size() / 2) << "[s]" << std::endl;     std::cout << "mean tracking time: " << total_track_time / track_times.size() << "[s]" << std::endl; }     //========================主函数==============================   int main(int argc, char* argv[]) {         #ifdef USE_STACK_TRACE_LOGGER         google::InitGoogleLogging(argv[0]);         google::InstallFailureSignalHandler();     #endif       // create options     //# 参数输入有顺序 别搞错位了     //popl::OptionParser op("Allowed options");     //auto help = op.add<popl::Switch>("h", "help", "produce help message");       // auto vocab_file_path = op.add<popl::Value<std::string>>("v", "vocab", "vocabulary file path");     // auto img_dir_path = op.add<popl::Value<std::string>>("i", "img-dir", "directory path which contains images");     // auto config_file_path = op.add<popl::Value<std::string>>("c", "config", "config file path");     // auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");     // auto frame_skip = op.add<popl::Value<unsigned int>>("", "frame-skip", "interval of frame skip", 1);     // auto no_sleep = op.add<popl::Switch>("", "no-sleep", "not wait for next frame in real time");     // auto auto_term = op.add<popl::Switch>("", "auto-term", "automatically terminate the viewer");     // auto debug_mode = op.add<popl::Switch>("", "debug", "debug mode");     // auto eval_log = op.add<popl::Switch>("", "eval-log", "store trajectory and tracking times for evaluation");     // auto map_db_path = op.add<popl::Value<std::string>>("p", "map-db", "store a map database at this path after SLAM", "");         string vocab_file_path = argv[1];     string data_dir_path = argv[2];     std::string img_dir_path=data_dir_path+"/left/";     std::string map_db_path =data_dir_path+"/openvslam_outdata/"+argv[4];     string config_file_path = argv[3];       string mask_img_path = "";     unsigned int frame_skip = 1;     bool no_sleep = 0 ;// 睡眠等待处理完在加载下一张离线图像     bool auto_term = 0;     bool debug_mode = 1;     bool eval_log = 1;         if (vocab_file_path=="" || img_dir_path=="" || config_file_path=="") {         std::cerr << "invalid arguments" << std::endl;         std::cerr << std::endl;         //std::cerr << op << std::endl;         return EXIT_FAILURE;     }       // setup logger     spdlog::set_pattern("[%Y-%m-%d %H:%M:%S.%e] %^[%L] %v%$");     if (debug_mode) {         spdlog::set_level(spdlog::level::debug);     }     else {         spdlog::set_level(spdlog::level::info);     }       // load configuration     std::shared_ptr<openvslam::config> cfg;     try {         cfg = std::make_shared<openvslam::config>(config_file_path);     }     catch (const std::exception& e) {         std::cerr << e.what() << std::endl;         return EXIT_FAILURE;     }       #ifdef USE_GOOGLE_PERFTOOLS         ProfilerStart("slam.prof");     #endif       //=================加载图像数据 gps时间戳==========================         // Retrieve paths to images     vector<string> vstrImageFilenames;  // 图像路径     vector<string> vTimestamps_string;    // 时间戳  也就是图像名字     vector<vector<double>> GPSDataList;// 保存GPS数据列表       // 根据时间戳列表 找图像加载     LoadImages(data_dir_path, vstrImageFilenames, vTimestamps_string, GPSDataList);                    // run tracking     if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) {           mono_tracking(cfg, vocab_file_path,                 img_dir_path,                 mask_img_path,                 frame_skip,                 no_sleep,                 auto_term,                 eval_log,                 map_db_path,                 data_dir_path,                 vstrImageFilenames,                 vTimestamps_string,                 GPSDataList                 );     }     else {         throw std::runtime_error("Invalid setup type: " + cfg->camera_->get_setup_type_string());     }       #ifdef USE_GOOGLE_PERFTOOLS         ProfilerStop();     #endif       return EXIT_SUCCESS; }

　　

 

 

 

save

yi ding yao 

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1	ofs << fixed

　　

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string path=image_path + "/ORB_SLAM3_out/slam_xyzgps.txt";   std::ofstream ofs(path, std::ios::out); if (!ofs.is_open()) {     cout << " error path" << path << endl; }         ofs << fixed << std::setprecision(4)             //<< timestamps.at(frm_id) << " "             << ni <<" "             << std::setprecision(8)             << t_wc(0) << " " <<  t_wc(1) << " " << t_wc(2) << " "                          << GPSDataList[ni][1] << " " << GPSDataList[ni][2] << " " << GPSDataList[ni][3]               << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;      ofs.close();