读取txt文档并解析数据输出

读取如下内容：

[INFO] [2023927 13:23:04.303] [estimator.cpp:1894]: XYZI: 1.70492 -1.33857 1.99379 134
[INFO] [2023927 13:23:04.303] [estimator.cpp:1894]: XYZI: 1.70944 -1.32323 1.99325 125
[INFO] [2023927 13:23:04.303] [estimator.cpp:1892]: 1695792183.950074.pcd 
[INFO] [2023927 13:23:04.303] [estimator.cpp:1894]: XYZI: 1.69904 -1.3083 1.99324 142
[INFO] [2023927 13:23:04.303] [estimator.cpp:1894]: XYZI: 1.70866 -1.29287 1.99253 140
[INFO] [2023927 13:23:04.304] [estimator.cpp:1894]: XYZI: 1.71834 -1.2775 1.99181 138
[INFO] [2023927 13:23:04.304] [estimator.cpp:388]: Trailer angle estimator init success 

[INFO] [2023927 13:23:04.304] [estimator.cpp:312]: last_angle: 1695792184.150050 0.000625
[INFO] [2023927 13:23:04.353] [estimator.cpp:1941]: vehicle_pose: 1695792184.158000  -1456.254047 34.195933 93.047454
[INFO] [2023927 13:23:04.353] [estimator.cpp:1969]: trailer_pose: 1695792184.150050 34.231745
[INFO] [2023927 13:23:04.408] [estimator.cpp:475]: filter_angle: 1695792184.250059 0.000680
[INFO] [2023927 13:23:04.408] [estimator.cpp:490]: predict_angle: 1695792184.250059 0.000289
[INFO] [2023927 13:23:04.408] [estimator.cpp:352]: trailer_angle: 910 0.016561
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解析出角度值 “filter_angle”， “predict_angle”，“trailer_angle”，并将结果保存成txt文档。
解析出XYZI: 1.70866 -1.29287 1.99253 140，并将结果按照解析出的“1695792183.950074.pcd ”来保存。

#include 
#include 
#include 
#include 
#include 
#include  //istringstream 必须包含这个头文件
#include 
#include 
#include 
using namespace std;

struct angle_struct {
  double timestamp;
  double angle;
};

struct point_struct {
  std::string pcd_name;
  double x;
  double y;
  double z;
  double i;
};

void Stringsplit(const std::string str, const char split,
                 std::vector<std::string> &res) {
  std::istringstream iss(str);
  std::string token;
  while (getline(iss, token, split)) {
    res.push_back(token);
  }
}
// 1695792261.850105.pcd

void test(std::string &input_path) {

  ifstream ifs(input_path); //读取文件
  if (!ifs.good()) {
    cerr << "ifstream open file error!\n";
    return;
  }
  std::vector<std::vector<point_struct>> pcds;
  string line;
  // vector lines;
  std::string get_pcd_name;
  point_struct point0;
  std::vector<point_struct> points_init;
  std::vector<angle_struct> trailer_angle;
  std::vector<angle_struct> predict_angle;
  std::vector<angle_struct> filter_angle;
  int count = 0;

  while (getline(ifs, line)) //获取每一行数据
  {
    //按照空格分
    // lines.push_back(line); //将每一行依次存入到vector中
    // cout << line << endl;  //顺便打印一下这一行
    // 如果line是空行，则跳过本次处理
    if (line.empty()) {
      continue;
    }
    std::vector<std::string> str_list;
    point_struct point;
    std::vector<point_struct> points;

    //----
    angle_struct angle_value;
    //按照空格将每一行内容划分为不同字符串，将每个字符串保存到vector里，此时每个vcetor保存这一行的内容
    Stringsplit(line, ' ', str_list);
    if (str_list.size() > 5) {
      string str_list_4 = str_list[4];
      if (str_list_4 == "XYZI:") {
        // std::cout << "XYZI: " << str_list[5] << " " << str_list[6] << " "
        //           << str_list[7] << " " << str_list[8] << std::endl;
        point.x = stod(str_list[5]);
        point.y = stod(str_list[6]);
        point.z = stod(str_list[7]);
        point.i = stod(str_list[8]);
        point.pcd_name = get_pcd_name;
        pcds.back().push_back(point);
      }
    }
    if (str_list.size() == 5) {
      get_pcd_name = str_list[4];
      pcds.push_back(points);
      count++;
    }

    if (str_list.size() == 7) {
      string ang_str = str_list[4];
      if (ang_str == "trailer_angle:") {
        angle_value.timestamp = stod(str_list[5]);
        angle_value.angle = stod(str_list[6]);
        trailer_angle.push_back(angle_value);
      }
      if (ang_str == "predict_angle:") {
        angle_value.timestamp = stod(str_list[5]);
        angle_value.angle = stod(str_list[6]);
        predict_angle.push_back(angle_value);
      }
      if (ang_str == "filter_angle:") {
        angle_value.timestamp = stod(str_list[5]);
        angle_value.angle = stod(str_list[6]);
        filter_angle.push_back(angle_value);
      }
    }

    else {
      continue;
    }
  }
  ifs.close();
  std::cout << "pcds: " << pcds.size() << std::endl;
  std::cout << "count: " << count << std::endl;
  for (int i = 0; i < pcds.size(); i++) {
    pcl::PointCloud<pcl::PointXYZINormal>::Ptr single_cloud(
        new pcl::PointCloud<pcl::PointXYZINormal>);
    std::string _name;
    //保存成每一帧点云
    single_cloud->width = 1;
    single_cloud->height = pcds[i].size();
    for (int j = 0; j < pcds[i].size(); j++) {
      pcl::PointXYZINormal Point;
      _name = pcds[i][j].pcd_name;
      Point.x = pcds[i][j].x;
      Point.y = pcds[i][j].y;
      Point.z = pcds[i][j].z;
      Point.intensity = pcds[i][j].i;
      single_cloud->points.push_back(Point);
      std::cout << "XYZI: " << pcds[i][j].pcd_name << " " << pcds[i][j].x << " "
                << pcds[i][j].y << " " << pcds[i][j].z << " " << pcds[i][j].i
                << std::endl;
    }
    //保存单帧pcd
    std::string path_save = "../JTG/pcds/" + _name;
    std::cout << "path_save : " << path_save << std::endl;
    if (single_cloud->points.size() > 0) {
      pcl::io::savePCDFileBinaryCompressed(path_save,
                                           *single_cloud); //压缩保存
    }
  }

  ofstream ofs1("../JTG/trailer_angle.txt"); //把内容输出到a.txt文件中
  if (!ofs1.good()) {
    cerr << "ofstream open file error!\n";
    return;
  }
  for (auto &data : trailer_angle) {
    ofs1 << std::fixed << data.timestamp << " " << data.angle << '\n';
  }
  ofs1.close();
  //---------

  ofstream ofs2("../JTG/predict_angle.txt"); //把内容输出到a.txt文件中
  if (!ofs2.good()) {
    cerr << "ofstream open file error!\n";
    return;
  }
  for (auto &data : predict_angle) {
    ofs2 << std::fixed << data.timestamp << " " << data.angle << '\n';
  }
  ofs2.close();
  //------

  ofstream ofs3("../JTG/filter_angle.txt"); //把内容输出到a.txt文件中
  if (!ofs3.good()) {
    cerr << "ofstream open file error!\n";
    return;
  }
  for (auto &data : filter_angle) {
    ofs3 << std::fixed << data.timestamp << " " << data.angle << '\n';
  }
  ofs3.close();
  //-------
}

int test2() {
  ofstream ofs("china_daily.txt", std::ios::app); //在文档中添加字符串
  if (!ofs) {
    cerr << "ofstream error!" << endl;
    return -1;
  }
  cout << ofs.tellp() << endl;    //输出整个文件的长度
  ofs << "this new line" << endl; //在文件末尾追加“this new line”
  ofs.close();
  return 0;
}

int main(void) {
  std::string input_path =
      "../JTG/uto_trailer_pose_estimator_185511_1695792081229.txt";
  test(input_path);
  // test2();
  return 0;
}

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Cmakelist文件如下：

cmake_minimum_required(VERSION 2.6)
project(main)

set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(PCL 1.8 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(main main.cpp)

target_link_libraries (main ${PCL_LIBRARIES})

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