C++读、写文件：bin、txt

读写bin二进制文件：

读取bin二进制文件：

std::ifstream R_pose_file("../data/pose.bin", std::ios::in | std::ios::binary);
while (!R_pose_file.eof())
{
    Pose_R R_temp;
    R_pose_file.read(reinterpret_cast<char *>(&R_temp), sizeof(Pose_R));
}
R_pose_file.close();


struct Pose_R
{
    Eigen::Matrix4d pose;
    double time;
};

写入bin二进制文件：

string save_bin_path = "../pose.bin";
std::ofstream pose_bin(save_bin_path);

pose_bin.write(reinterpret_cast<const char *>(&pose_save), sizeof(Pose_R));

pose_bin.close();

 读取txt文件然后储存到bin文件：

void SavePoseTxtToBin(const std::string pose_txt_path, const std::string save_bin_path)
{
    std::ifstream pose_txt(pose_txt_path);
    std::ofstream pose_bin(save_bin_path);

    std::string line, data_in;
    int index = 0;
    while (getline(pose_txt, line))
    {
        Pose pose_save;
        pose_save.index = index++;

        std::istringstream iss(line);
        iss >> pose_save.time >> pose_save.pose_x >> pose_save.pose_y >> pose_save.pose_theta;
        pose_bin.write(reinterpret_cast<const char *>(&pose_save), sizeof(CartographerPose));

        iss.clear();
        iss.str("");
    }

    pose_txt.close();
    pose_bin.close();
}

struct Pose {
    int index;
    double pose_x;
    double pose_y;
    double pose_theta;
    unsigned long long time;
};

读写txt文件：

std::ifstream ground_truth_file("../groundtruth.txt");
std::ofstream pose_voice_file("../pose_voice.txt");

cv::RNG rng;  
std::string line, data_in;

while (getline(ground_truth_file, line))
{
    // 读取txt文件
    std::istringstream input_string_stream(line);
    double timestemp, px, py, pz, qx, qy, qz, qw, a_voice, b_voice;
    input_string_stream >> timestemp >> px >> py >> pz >> qx >> qy >> qz >> qw;
    // 将读取到的数据添加高斯噪声
    a_voice = px + rng.gaussian(0.08);
    b_voice = py + rng.gaussian(0.08);
    // 写入txt文件，并指定精度
    pose_voice_file.precision(16);
    pose_voice_file << timestemp << " " << a_voice << " " << b_voice << std::endl;

    input_string_stream.clear();
    input_string_stream.str("");
}

ground_truth_file.close();
pose2d_voice_file.close();

需要添加头文件：

#include <iostream>