SLAM中TUM数据集更改图片名字

1、时间命名的影像改为序列号命名的影像

最近在跑一个SLAM相关算法的时候遇到一个问题，被广泛测试的TUM数据集如何将以采集时间命名的图片保存为以序号命名的图片。
TUM原始数据：
assciations.txt、rgb文件、depth文件是原始数据

处理之后的TUM数据：
assciations1.txt、rgb1文件、depth1文件是处理之后的数据

#include<iostream>
#include<fstream>
#include <string>
#include<string>
#include <vector>
using namespace std;
void SplitString(const string& s, vector<string>& v, const string& c)
{
	string::size_type pos1, pos2;
	pos2 = s.find(c);
	pos1 = 0;
	while (string::npos != pos2)
	{
		v.push_back(s.substr(pos1, pos2 - pos1));

		pos1 = pos2 + c.size();
		pos2 = s.find(c, pos1);
	}
	if (pos1 != s.length())
		v.push_back(s.substr(pos1));
}


void Rgb_Save(int Num, string Rgbdir)
{
	//保存输入图像文件名和输出图像文件名
	const char* InImgName;
	const char* OutImgName;
	//图像数据长度
	int length;
	//文件指针
	FILE* fp;
	InImgName = Rgbdir.data();
	//以二进制方式打开图像
	if ((fp = fopen(InImgName, "rb")) == NULL)
	{
		cout << "Open image failed!" << endl;
		exit(0);
	}
	//获取图像数据总长度
	fseek(fp, 0, SEEK_END);
	length = ftell(fp);
	rewind(fp);
	//根据图像数据长度分配内存buffer
	char* ImgBuffer = (char*)malloc(length * sizeof(char));
	//将图像数据读入buffer
	fread(ImgBuffer, length, 1, fp);
	fclose(fp);
	string aa = "G:/Code_Repository_lichenwgei/rgbd_dataset_freiburg1_xyz/rgb1/" + to_string(Num) + ".png";
	OutImgName = aa.data();
	//以二进制写入方式
	if ((fp = fopen(OutImgName, "wb")) == NULL)
	{
		cout << "Open File failed!" << endl;
		exit(0);
	}
	//从buffer中写数据到fp指向的文件中
	fwrite(ImgBuffer, length, 1, fp);
	cout << "Done! Rgb_Save"<<Num << endl;
	//关闭文件指针，释放buffer内存
	fclose(fp);
	free(ImgBuffer);
}
void Depth_Save(int Num, string Depthdir)
{
	//保存输入图像文件名和输出图像文件名
	const char* InImgName;
	const char* OutImgName;
	//图像数据长度
	int length;
	//文件指针
	FILE* fp;
	InImgName = Depthdir.data();
	//以二进制方式打开图像
	if ((fp = fopen(InImgName, "rb")) == NULL)
	{
		cout << "Open image failed!" << endl;
		exit(0);
	}
	//获取图像数据总长度
	fseek(fp, 0, SEEK_END);
	length = ftell(fp);
	rewind(fp);
	//根据图像数据长度分配内存buffer
	char* ImgBuffer = (char*)malloc(length * sizeof(char));
	//将图像数据读入buffer
	fread(ImgBuffer, length, 1, fp);
	fclose(fp);
	string aa = "G:/Code_Repository_lichenwgei/rgbd_dataset_freiburg1_xyz/depth1/" + to_string(Num) + ".png";
	OutImgName = aa.data();
	//以二进制写入方式
	if ((fp = fopen(OutImgName, "wb")) == NULL)
	{
		cout << "Open File failed!" << endl;
		exit(0);
	}
	//从buffer中写数据到fp指向的文件中
	fwrite(ImgBuffer, length, 1, fp);
	cout << "Done! Depth_Save"<<Num << endl;
	//关闭文件指针，释放buffer内存
	fclose(fp);
	free(ImgBuffer);
}
int main()
{
	ifstream myfile("G:/Code_Repository_lichenwgei/rgbd_dataset_freiburg1_xyz/associations.txt");
	string  line;
	string Rgbdir;
	string Depthdir;
	vector<string> v;
	int Num=100000;
	while (getline(myfile, line))
	{
		SplitString(line, v, " ");
		//cout << v[0] << endl;
		Rgbdir = "G:/Code_Repository_lichenwgei/rgbd_dataset_freiburg1_xyz/" + v[1];
		Depthdir = "G:/Code_Repository_lichenwgei/rgbd_dataset_freiburg1_xyz/" + v[3];
		Rgb_Save(Num,Rgbdir);
		Depth_Save(Num, Depthdir);
		v.clear();//清除所有元素
		vector<string>(v).swap(v);//清除vector内存
		Num++;
	};
	ofstream outfile("G:/Code_Repository_lichenwgei/rgbd_dataset_freiburg1_xyz/result.txt");
	return 0;
}

2、以序列号开始的位姿结果改为时间开始的位姿结果

原始：

时间信息文件：

修改代码：

using namespace std;
#include<iostream>
#include<fstream>
#include <string>
#include<string>
#include <vector>
void SplitString(const string& s, vector<string>& v, const string& c)
{
	string::size_type pos1, pos2;
	pos2 = s.find(c);
	pos1 = 0;
	while (string::npos != pos2)
	{
		v.push_back(s.substr(pos1, pos2 - pos1));

		pos1 = pos2 + c.size();
		pos2 = s.find(c, pos1);
	}
	if (pos1 != s.length())
		v.push_back(s.substr(pos1));
}
int main()
{
	ifstream Trajectory("D:/SLAM_Data/TUM/freiburg1_desk/a_Trajectory.txt");
	ifstream Match_time("D:/SLAM_Data/TUM/freiburg1_desk/match_time.txt");
	ofstream outputfile;
	outputfile.open("D:/SLAM_Data/TUM/freiburg1_desk/a_Trajectory_time.txt");
	string  line_Trajectory,line_Time;
	vector<string> v_Trajectory,v_Time;
	while (getline(Trajectory, line_Trajectory))
	{
		SplitString(line_Trajectory, v_Trajectory, " ");
		getline(Match_time, line_Time);
		SplitString(line_Time, v_Time, " ");
		string Result = v_Time[0] + " " + v_Trajectory[1] + " " + v_Trajectory[2] + " " + v_Trajectory[3] + " " + v_Trajectory[4]
			+ " " + v_Trajectory[5] + " " + v_Trajectory[6] + " " + v_Trajectory[7];
		std::cout << Result << std::endl;
		outputfile << Result << endl;
		v_Trajectory.clear();
		v_Time.clear();
	}
	outputfile.close();
	return 1;
}

结果：