Function writeCSVVicon

okvis_ros/src/dataset_convertor.cpp:291–299

}

void writeCSVVicon(shared_ptr<std::ofstream> file, geometry_msgs::TransformStamped::ConstPtr vicon) {
  std::ostringstream ss;
  ss << std::setprecision(DOUBLE_PRECISION) << vicon->header.stamp.toNSec() << "," << vicon->transform.translation.x
     << "," << vicon->transform.translation.y << "," << vicon->transform.translation.z << ","
     << vicon->transform.rotation.w << "," << vicon->transform.rotation.x << "," << vicon->transform.rotation.y << ","
     << vicon->transform.rotation.z;

  *file << ss.str() << endl;
}

bool isTopicInMap(map<string, map<string, string>>& topic2info, string topic_name) {  // NOLINT
  bool res = false;