TUM数据集更换rgb和depth图片的名称

TUM数据集的图片名称都是以时间戳为名的。我想把它都修改为0000,0001,0002,这样类似顺序的名称。因此写了下面这个小程序，这里提供给大家，如果对您有帮助的话可以随手给我点个赞，谢谢！！！

change.cpp

#include <stdio.h>
#include <iostream>
#include <opencv2/opencv.hpp>
#include <vector>
#include <string>
#include<sstream>
#include <boost/filesystem/operations.hpp>
#include <boost/filesystem/path.hpp>


using namespace std;
using namespace cv;


int parseInfoFile(
            std::string &strAssociation_Path,
            vector<std::pair<string,string>> &vec_info)//vec_info保存rgb和depth的路径信息
{
    char * line = NULL;
    size_t len = 0;
    ssize_t read;
    FILE *pFile = fopen(strAssociation_Path.c_str(), "r");
    if(!pFile) {
        return -1;
    }
    int iFrameCnt = 0;
    while ((read = getline(&line, &len, pFile)) != -1) {

        std::istringstream is(line);//istringstream对象可以绑定一行字符串，然后以空格为分隔符把该行分隔开来。
        std::string part;//保存以空格分开的每一部分
        int iIdxToken = 0;
        while (getline(is, part))
        {
            if('#' == part[0])/// Skip file comment '#"
            {
                continue;
            }

            int64_t timeSeq = 0;
            std::string strDepthPath;
            std::string strRgbPath;

            std::istringstream iss(part);
            std::string token;

            while (getline(iss, token, ' '))
            {
                if(2 == iIdxToken) //Time rgb
                {//first token which is time
                    //什么都不干
                }
                else if(1 == iIdxToken)//rgb path，fr1，fr2和fr3的第2列和第四列相反，可能需要修改这里iIdxToken为3
                {
                    strRgbPath = token;
                   // std::cout<<strRgbPath<<endl;
                }
                else if(0 == iIdxToken)//Time depth
                {
                  //什么都不干
                }
                else if(3 == iIdxToken)//depth path fr1，fr2和fr3的第2列和第四列相反，可能需要修改这里iIdxToken为1
                {
                    strDepthPath = token;
                   // std::cout<<strDepthPath<<endl;
                }
                iIdxToken++;
            }

            vec_info.push_back(make_pair(strRgbPath,strDepthPath));
        }
    }
    fclose(pFile);
    return 0;
}

int main(int argc, char **argv)
{
    if(argc !=2)
    {
        cerr << endl << "path_to_rgb_error"<< endl;
        return 1;
    }
    char new_name[20];
    string basedir=string(argv[1])+"/";
    string input_associatiations=basedir+"/associations.txt";
    vector<std::pair<string,string>> picInfo;
    if(parseInfoFile(input_associatiations,picInfo))
        cerr<<" Can‘t read file！ "<<endl;
    cout<<"There is "<<picInfo.size()<<" picture pair in all!!"<<endl;

    //不存在就创建新目录保存
    string exportRgbDir =basedir+"/nrgb/";
    boost::filesystem::path eDir(exportRgbDir);
    boost::filesystem::create_directory(eDir);
    string exportDepthDir =basedir+"/ndepth/";
    boost::filesystem::path dDir(exportDepthDir);
    boost::filesystem::create_directory(dDir);
    std::cout<<"Progress"<<endl;
    for(unsigned int i = 0; i < picInfo.size(); ++i)//开始处理每个图片
    {
        Mat rgb,depth;
        string rgbpath=picInfo[i].first;
        rgbpath=basedir+rgbpath;
        string depthpath=picInfo[i].second;
        depthpath=basedir+depthpath;
        rgb=imread(rgbpath,1);
        depth=imread(depthpath,-1);
       // cout<<"type "<<depth.type()<<endl;
        if(rgb.empty()||depth.empty())
        {
            cerr << endl << "Failed to load image at: "
                 << rgbpath << "   or   "<< depthpath<< endl;
            return 1;
        }
        //打印进度
        std::cout << '\r'
                  << std::setw(4) << std::setfill('0') << i << " / "
                  << std::setw(4) << std::setfill('0') << picInfo.size()
                  << std::flush;

        
        sprintf(new_name,"Color%04d.png",i);
        imwrite(exportRgbDir+new_name,rgb);
        sprintf(new_name,"Depth%04d.png",i);
        imwrite(exportDepthDir+new_name,depth);
    }
    cout << "Sucessful!!!" <<endl;

CMakeLists.txt

set( CMAKE_CXX_FLAGS "-std=c++11" )
find_package( OpenCV REQUIRED )# 寻找 OpenCV 库
find_package(Boost REQUIRED)
message(STATUS "Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})

# 添加头文件
include_directories( ${OpenCV_INCLUDE_DIRS} )

add_executable( rgb change.cpp )

# 链接 OpenCV 库
target_link_libraries( rgb ${OpenCV_LIBS}  boost_filesystem boost_system)

使用：

mkdir build
cd build
cmake -DBOOST_ROOT="/home/wei/Documents/project/maskfusion-master/deps/boost" ..
make

#注意，fr3的associations.txt和fr2,fr1的associations.txt的第二列和第四列是相反的，程序是针对fr3的，所以如果运行fr1和fr2需要修改程序，另外，程序读取和创建目录使用boost库完成，因此cmake时要指定boost库

运行：

./rgb  /home/wei/Documents/dataset/TUM/rgbd_dataset_freiburg3_walking_halfsphere