1. pose文件保存,结构化文件保存
void Algorithm::Callback(
const cv::Mat &img0, const cv::Mat &img1, const TimeStampNs t) {
std::cout << std::setiosflags(std::ios::scientific) << std::setprecision(8);
double time_stamp = polaris_->getLastFrames()->getMinTimestampSeconds();
const Transformation &T_w_b = polaris_->getLastFrames()->get_T_W_B();
Eigen::Vector3d p = T_w_b.getPosition();
const Eigen::Quaterniond &q = T_w_b.getRotation().toImplementation();
static bool flag_filename = true;
static std::string filename = "";
if (flag_filename) {
time_t now = time(0);
tm *local_time = localtime(&now);
char time_str[100];
strftime(time_str, sizeof(time_str), "%Y_%m_%d_%H_%M_%S", local_time);
filename = "/home/sun/build/pose_" + std::string(time_str) + ".txt";
flag_filename = false;
}
std::string filename1 ="/home/sun/build/pose.txt";
std::ofstream out_pos(filename, std::ios::out | std::ios::app);
if (out_pos.is_open()) {
out_pos << std::setiosflags(std::ios::fixed) << time_stamp << " " << p[0] << " " << p[1] << " "
<< p[2] << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << std::endl;
}
}