2019-08-23 10:01:40 +02:00
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#!/bin/bash
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2021-10-15 14:50:02 +02:00
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##
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## BSD 3-Clause License
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##
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## This file is part of the Basalt project.
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## https://gitlab.com/VladyslavUsenko/basalt.git
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##
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## Copyright (c) 2019-2021, Vladyslav Usenko and Nikolaus Demmel.
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## All rights reserved.
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##
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2019-08-23 10:01:40 +02:00
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set -e
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set -x
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DATASET_PATH=/data/kitti_odom_grey/sequences
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DATASETS=(00 02 03 04 05 06 07 08 09 10)
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folder_name=eval_results_kitti
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mkdir $folder_name
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for d in ${DATASETS[$CI_NODE_INDEX-1]}; do
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echo $d
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basalt_vio --dataset-path $DATASET_PATH/$d --cam-calib $DATASET_PATH/$d/basalt_calib.json \
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--dataset-type kitti --show-gui 0 --config-path /usr/etc/basalt/kitti_config.json --result-path $folder_name/vo_$d --save-trajectory kitti --use-imu 0
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mv trajectory_kitti.txt $folder_name/kitti_$d.txt
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basalt_kitti_eval --traj-path $folder_name/kitti_$d.txt --gt-path $DATASET_PATH/$d/poses.txt --result-path $folder_name/rpe_$d.txt
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done
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