basalt/scripts/eval_full/run_evaluations.sh

27 lines
837 B
Bash
Executable File

#!/bin/bash
set -e
set -x
DATASET_PATH=/data/euroc
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)
folder_name=eval_results
mkdir $folder_name
for d in ${DATASETS[$CI_NODE_INDEX-1]}; do
basalt_vio --dataset-path $DATASET_PATH/$d --cam-calib /usr/etc/basalt/euroc_ds_calib.json \
--dataset-type euroc --show-gui 0 --config-path /usr/etc/basalt/euroc_config.json \
--result-path $folder_name/vio_$d --marg-data eval_tmp_marg_data
basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_ds_calib.json --marg-data eval_tmp_marg_data \
--vocabulary /usr/etc/basalt/orbvoc.dbow3 --result-path $folder_name/mapper_$d
rm -rf eval_tmp_marg_data
done
#./gen_results.py $folder_name > euroc_results.txt