c++提取出kitti tracking标定txt灰度图像内参矩阵和外参矩阵

本文链接：https://blog.csdn.net/hola_tom/article/details/117788259

txt提取

原始txt

P0: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 0.000000000000e+00 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00  
P1: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.875744000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00  
P2: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 4.485728000000e+01 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.163791000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.745884000000e-03  
P3: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.395242000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.199936000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.729905000000e-03  
R_rect 9.999239000000e-01 9.837760000000e-03 -7.445048000000e-03 -9.869795000000e-03 9.999421000000e-01 -4.278459000000e-03 7.402527000000e-03 4.351614000000e-03 9.999631000000e-01  
Tr_velo_cam 7.533745000000e-03 -9.999714000000e-01 -6.166020000000e-04 -4.069766000000e-03 1.480249000000e-02 7.280733000000e-04 -9.998902000000e-01 -7.631618000000e-02 9.998621000000e-01 7.523790000000e-03 1.480755000000e-02 -2.717806000000e-01  
Tr_imu_velo 9.999976000000e-01 7.553071000000e-04 -2.035826000000e-03 -8.086759000000e-01 -7.854027000000e-04 9.998898000000e-01 -1.482298000000e-02 3.195559000000e-01 2.024406000000e-03 1.482454000000e-02 9.998881000000e-01 -7.997231000000e-01

code

#include <iostream>
#include <sstream>
#include <string>
#include <fstream>
#include <bits/stdc++.h>

using namespace std;


bool UnWanted(string & line)
{
    // any selection criteria you like
    return (line.find("P2") != string::npos || line.find("P3") != string::npos);
}

void splitString(string str, string delimiter = " ")
{
    int start = 0;
    int end = str.find(delimiter);
    while (end != -1) {
        cout << str.substr(start, end - start) << endl;
        start = end + delimiter.size();
        end = str.find(delimiter, start);
    }
    cout << str.substr(start, end - start);
}

int main()
{
int calib_num = 0;
bool UnWanted_word;
string line;
string calib_txt = "../config/cali_0004.txt";
ifstream calib;
calib.open(calib_txt);

    if (calib.is_open())
    {

        while(!calib.eof()) {

            getline(calib, line);
            calib_num ++;
            if (UnWanted(line))
                {   printf("ignore R2 or R3 \n");
                    continue;}
            splitString(line, " ");
            // printf("%s", line.c_str());
            // cout << line << endl;
            // istringstream iss(line);
            // double a, b;
            // if (!(iss >> a >> b)) { break; } // error
            if (calib_num > 4) {break; } // extract first two lines of calibratation file
        
        }
    calib.close();
    }

    else cout << "Unable to open file"; 

    return 0;
}