Function openFileStreams

okvis_ros/src/dataset_convertor.cpp:195–207

}

map<string, shared_ptr<std::ofstream>> openFileStreams(const string folder_path,
                                                       map<string, map<string, string>>& sensor_info) {  // NOLINT
  map<string, shared_ptr<std::ofstream>> topic2file_map;
  for (auto& iterator : sensor_info) {
    string topic = iterator.first;
    string csv_file_path = folder_path + string("/") + iterator.second[CSVFILE];
    std::ofstream* file = new std::ofstream(csv_file_path.c_str());
    shared_ptr<std::ofstream> file_ptr(file);
    topic2file_map.insert(std::pair<string, shared_ptr<std::ofstream>>(topic, file_ptr));
  }
  writeCSVHeaders(topic2file_map, sensor_info);
  return topic2file_map;
}

map<string, map<string, string>> sensorInfo(const ros::NodeHandle& nh) {
  cout << colouredString("\tRetrieving sensor list...", RED, REGULAR);