C++ 中 时间文件的读取

一、文件格式

timestamps.txt 如下：

 

二、程序

int main(int argc, char** argv)
{
	ros::init(argc, argv, "vins_estimator");
	ros::NodeHandle n("~");
	ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info);


	if(argc != 3)
	{
		printf("please intput: rosrun vins camera_IMU_GPS_test [config file] [data folder] \n"
			   "for example: rosrun vins camera_IMU_GPS_test "
			   "~/catkin_ws/src/VINS-Fusion/config/test_data/stereo_imu_gps_config.yaml "
			   "/home/hltt3838/kitti_data/2011_10_03_drive_0027_sync/ \n");
		return 1;
	}

	string config_file = argv[1];  //stereo_imu_gps_config.yaml
	printf("config_file: %s\n", argv[1]);
    
	string sequence = argv[2];//---/home/hltt3838/kitti_data/2011_10_03_drive_0027_sync/
	printf("read sequence: %s\n", argv[2]);
	string dataPath = sequence + "/";

      //读取图像时间
	FILE* file;
	file = std::fopen((dataPath + "image_00/timestamps.txt").c_str() , "r");
	if(file == NULL){
	    printf("cannot find file: %simage_00/timestamps.txt \n", dataPath.c_str());
	    ROS_BREAK();
	    return 0;          
	}
	vector<double> imageTimeList;
	int year, month, day;
	int hour, minute;
	double second;//这里时间读取的格式- ：和 真实的数据，看一下，学习一下
	while (fscanf(file, "%d-%d-%d %d:%d:%lf", &year, &month, &day, &hour, &minute, &second) != EOF)
	{
	    imageTimeList.push_back(hour * 60 * 60 + minute * 60 + second);
	}
	std::fclose(file);

知识点1：

当我们在端口输入：

//rosrun vins camera_IMU_GPS_test [config file] [data folder]

rosrun vins camera_IMU_GPS_test  stereo_imu_gps_config.yaml  2011_10_03_drive_0027_sync

那么

argv[1] =  stereo_imu_gps_config.yaml

argv[2] = 2011_10_03_drive_0027_sync

再者命名：

string config_file = argv[1];

string sequence = argv[2];

 

知识点2：

当然，我们也可以定义如下：

string sequence  =  "home//hltt3838//kitti_data//2011_10_03_drive_0027_sync//";

主要是下面，我们与原来的数据格式要一致！

                                    //年-月-日 时:分:秒

while (fscanf(file, "%d-%d-%d %d:%d:%lf", &year, &month, &day, &hour, &minute, &second) != EOF)
    {
        imageTimeList.push_back(hour * 60 * 60 + minute * 60 + second);
    }

 

 

 //注意：相机和GPS数据都是10HZ，如果不是应该怎么写
    for (size_t i = 0; i < imageTimeList.size(); i++)
    {	

        //读取GPS信息
	FILE* GPSFile;
	string GPSFilePath = dataPath + "oxts/data/" + ss.str() + ".txt";
	GPSFile = std::fopen(GPSFilePath.c_str() , "r");
	if(GPSFile == NULL){
	printf("cannot find file: %s\n", GPSFilePath.c_str());
	ROS_BREAK();
	 return 0;          
	}
        double lat, lon, alt, roll, pitch, yaw;
	double vn, ve, vf, vl, vu;
	double ax, ay, az, af, al, au;
	double wx, wy, wz, wf, wl, wu;
	double pos_accuracy, vel_accuracy;
	double navstat, numsats;
	double velmode, orimode;
			
	fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &lat, &lon, &alt, &roll, &pitch, &yaw);
	fscanf(GPSFile, "%lf %lf %lf %lf %lf ", &vn, &ve, &vf, &vl, &vu);
	fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &ax, &ay, &az, &af, &al, &au);
	fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &wx, &wy, &wz, &wf, &wl, &wu);
	fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &pos_accuracy, &vel_accuracy, &navstat, &numsats, &velmode, &orimode);

	std::fclose(GPSFile);
			
        sensor_msgs::NavSatFix gps_position;
	gps_position.header.frame_id = "NED";
	gps_position.header.stamp = ros::Time(imgTime);
	gps_position.status.status = navstat;
	gps_position.status.service = numsats;
	gps_position.latitude  = lat;
	gps_position.longitude = lon;
	gps_position.altitude  = alt;
	gps_position.position_covariance[0] = pos_accuracy;
    
	pubGPS.publish(gps_position);
			    
}