读取rosbag中的IMU信息并转为tum格式的csv和txt

rostopic -b xx.bag -p /xx > xxx.txt

#for euroc    structvio
import os, sys,re,csv
name="street_07"
# basedir="/media/yinjie/2498AF1F98AEEF0C/adataset/15results/imu_bagtxt/"+name+'.txt'
# txtdir="/media/yinjie/2498AF1F98AEEF0C//adataset/15results/imu_orbtxt/"+name+'.txt'
#basedir="/media/yinjie/2498AF1F98AEEF0C/adataset/15results/imu_bagtxt/"+name+'.txt'
#basedir="/media/car/2498AF1F98AEEF0C/big/cam_imu/"+name+'.txt'
basedir='/media/car/2498AF1F98AEEF0C/adataset/gtmid/euroc_imu_txt/'+name+'.txt'
dstdir='/media/car/2498AF1F98AEEF0C/adataset/gtmid/euroc_imu_txt_csv/'+name+'.csv'
#timedir="/media/yinjie/2498AF1F98AEEF0C/big/cam_imu/"+name+'_time.txt'
# with open('test.csv','w')as fcsv:
#     f_csv = csv.writer(f_csv)
#     f_csv.writerow(headers)

fcsv=open(dstdir,'w')
f_csv = csv.writer(fcsv)

f1=open(basedir,'r')
# f2=open(txtdir,"w")
#f3=open(timedir,"w")
#f2.write('#timestamp [ns],w_RS_S_x [rad s^-1],w_RS_S_y [rad s^-1],w_RS_S_z [rad s^-1],a_RS_S_x [m s^-2],a_RS_S_y [m s^-2],a_RS_S_z [m s^-2]\n')
line=f1.readline()

while line:
    line=line.split(',')
    linetor=[line[0],line[1],line[2],line[3],line[4],line[5],line[6].replace('\n', '').replace('\r', '')]
    # print(linetor)
    # break
    f_csv.writerow(linetor)
    line=f1.readline()

import os
import shutil
import cv2
import csv
# dstdir='/media/car/2498AF1F98AEEF0C/big/results/vinsmono/new/'
# srcdir='/home/car/Downloads/project/vinsmono_ws/src/VINS-Mono/traj/'
# csvFile=open('/home/car/Downloads/project/vinsmono_ws/src/VINS-Mono/traj/street_07_loop.csv','r')
# txtFile=open('/media/car/2498AF1F98AEEF0C/adataset/evaluation/vinsmono/new/street_07.txt','w')

csvFile=open('//home/car/Downloads/project/vinsmono_ws/src/VINS-Mono/traj/vins_result_no_loop.csv','r')
txtFile=open('//home/car/Downloads/project/vinsmono_ws/src/VINS-Mono/traj/urbanloco5828.txt','w')
reader = csv.reader(csvFile)
for item in reader:
    if reader.line_num == 1:
        continue
    txtFile.write(str("%.9f" % (float(item[0])/1000000000))+' '+item[1]+' '+item[2]+' '+item[3]+' '+item[5]+' '+item[6]+' '+item[7]+' '+item[4]+'\n')


csvFile.close()