45 lines
1.6 KiB
Bash
Executable File
45 lines
1.6 KiB
Bash
Executable File
#!/bin/bash
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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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set -e
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set -x
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DATASET_PATH=/data/euroc
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DATASETS=(MH_01_easy MH_02_easy MH_03_medium MH_04_difficult MH_05_difficult V1_01_easy V1_02_medium V1_03_difficult V2_01_easy V2_02_medium)
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folder_name=eval_results
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mkdir $folder_name
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for d in ${DATASETS[$CI_NODE_INDEX-1]}; do
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basalt_vio --dataset-path $DATASET_PATH/$d --cam-calib /usr/etc/basalt/euroc_eucm_calib.json \
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--dataset-type euroc --show-gui 0 --config-path /usr/etc/basalt/euroc_config.json \
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--result-path $folder_name/vio_$d --marg-data eval_tmp_marg_data --save-trajectory tum
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mv trajectory.txt $folder_name/traj_vio_$d.txt
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basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config.json --marg-data eval_tmp_marg_data \
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--result-path $folder_name/mapper_$d
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basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config_no_weights.json --marg-data eval_tmp_marg_data \
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--result-path $folder_name/mapper_no_weights_$d
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basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config_no_factors.json --marg-data eval_tmp_marg_data \
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--result-path $folder_name/mapper_no_factors_$d
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rm -rf eval_tmp_marg_data
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done
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#./gen_results.py $folder_name > euroc_results.txt
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