Function writeCSVImu

okvis_ros/src/dataset_convertor.cpp:283–289

}

void writeCSVImu(shared_ptr<std::ofstream> file, sensor_msgs::Imu::ConstPtr imu) {
  std::ostringstream ss;
  ss << std::setprecision(DOUBLE_PRECISION) << imu->header.stamp.toNSec() << "," << imu->angular_velocity.x << ","
     << imu->angular_velocity.y << "," << imu->angular_velocity.z << "," << imu->linear_acceleration.x << ","
     << imu->linear_acceleration.y << "," << imu->linear_acceleration.z;
  *file << ss.str() << endl;
}

void writeCSVVicon(shared_ptr<std::ofstream> file, geometry_msgs::TransformStamped::ConstPtr vicon) {
  std::ostringstream ss;