optimize file handling

trajectory_writer.py

@@ -49,18 +49,13 @@ def __init__(self, format_type: str, filename: str = None) -> None:
         self.file = None
 
     def open_file(self):
-        self._create_file()
+        self.file = open(self.filename, 'w')
 
     def close_file(self):
         if self.file:
             self.file.close()
             self.file = None
 
-    def _create_file(self):
-        if os.path.exists(self.filename):
-            os.remove(self.filename)
-        open(self.filename, 'w').close()
-
     def write_trajectory(self, R, t, timestamp):
         write_func = self.FORMAT_FUNCTIONS.get(self.format_type)
         if write_func:
@@ -69,22 +64,19 @@ def write_trajectory(self, R, t, timestamp):
             raise UnsupportedFormatException(self.format_type)
 
     def _write_kitti_trajectory(self, R, t, timestamp) -> None:
-        with open(self.filename, 'a') as file:
-            file.write(f"{R[0, 0]:.9f} {R[0, 1]:.9f} {R[0, 2]:.9f} {t[0]:.9f} " \
+        self.file.write(f"{R[0, 0]:.9f} {R[0, 1]:.9f} {R[0, 2]:.9f} {t[0]:.9f} " \
                f"{R[1, 0]:.9f} {R[1, 1]:.9f} {R[1, 2]:.9f} {t[1]:.9f} " \
-               f"{R[2, 0]:.9f} {R[2, 1]:.9f} {R[2, 2]:.9f} {t[2]:.9f}" + "\n")
+               f"{R[2, 0]:.9f} {R[2, 1]:.9f} {R[2, 2]:.9f} {t[2]:.9f}\n")
 
     def _write_tum_trajectory(self, R, t, timestamp) -> None:
-        with open(self.filename, 'a') as file:
-            q = quaternion.from_rotation_matrix(R)
-            file.write(f"{timestamp:.6f} {t[0]:.9f} {t[1]:.9f} {t[2]:.9f} {q.x:.9f} {q.y:.9f} {q.z:.9f} {q.w:.9f}\n")
+        q = quaternion.from_rotation_matrix(R)
+        self.file.write(f"{timestamp:.6f} {t[0]:.9f} {t[1]:.9f} {t[2]:.9f} {q.x:.9f} {q.y:.9f} {q.z:.9f} {q.w:.9f}\n")
 
     def _write_euroc_trajectory(self, R, t, timestamp) -> None:
-        with open(self.filename, 'a') as file:
-            t_str = ', '.join(map(str, t))
-            q = quaternion.from_rotation_matrix(R)
-            pose_line = f"{timestamp:.6f}, {t_str}, {q.x:.9f}, {q.y:.9f}, {q.z:.9f}, {q.w:.9f}"
-            file.write(pose_line + '\n')
+        t_str = ', '.join(map(str, t))
+        q = quaternion.from_rotation_matrix(R)
+        pose_line = f"{timestamp:.6f}, {t_str}, {q.x:.9f}, {q.y:.9f}, {q.z:.9f}, {q.w:.9f}"
+        self.file.write(pose_line + '\n')
 
     @staticmethod
     def generate_filename():