2020-03-06 12:51:28 +01:00
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#!/bin/bash
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set -e
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set -x
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DATASET_PATH=/data/tumvi/512_16/
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DATASETS=(
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dataset-corridor1_512_16
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dataset-magistrale1_512_16
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dataset-room1_512_16
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dataset-slides1_512_16
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)
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folder_name=eval_results_tumvi
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mkdir $folder_name
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for d in ${DATASETS[$CI_NODE_INDEX-1]}; do
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2020-03-06 13:08:14 +01:00
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basalt_vio --dataset-path $DATASET_PATH/$d --cam-calib /usr/etc/basalt/tumvi_512_eucm_calib.json \
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2020-03-06 12:51:28 +01:00
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--dataset-type euroc --show-gui 1 --config-path /usr/etc/basalt/tumvi_512_config.json \
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--result-path $folder_name/vio_$d --save-trajectory tum
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mv trajectory.txt $folder_name/${d}_basalt_poses.txt
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done
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#./gen_results_tumvi.py $folder_name > euroc_tumvi.txt
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