KITTI Dataset pose 불러오기

늘 까먹어서 메모용으로 기록해둔다.

#include <iostream>
#include <vector>
#include <fstream>
#include <eigen3/Eigen/Dense>
using namespace std;
vector<float> split(string input, char delimiter) {
vector<float> answer;
stringstream ss(input);
string temp;
while (getline(ss, temp, delimiter)) {
answer.push_back(stof(temp));
}
return answer;
}
void vec2tf4x4(vector<float>& pose, Eigen::Matrix4f& tf4x4){
for (int idx = 0; idx < 12; ++idx){
int i = idx / 4;
int j = idx % 4;
tf4x4(i, j) = pose[idx];
}
}
int main(){
vector<Eigen::Matrix4f > poses;
std::ifstream in("/home/shapelim/dataset/dataset/sequences/00/poses.txt");
std::string line;
while (std::getline(in, line)) {
// output the line
std::cout << line << std::endl;
vector<float> pose = split(line, ' ');
Eigen::Matrix4f tf4x4 = Eigen::Matrix4f::Identity(); // Crucial!
vec2tf4x4(pose, tf4x4);
}
}
view raw KITTI_load_poses.cpp hosted with ❤ by GitHub