24325f2a06
Major changes: - New square-root implementation for optimization and marginalization, giving faster optimization and numerically more stable marginalization. The square root solver is the new default, but the Schur complement based implementation is still available. (Implements the ICCV'21 paper.) - The odometry estimator is now fully templetized and you can run in float or double. Default is float, which works well with the new square-root implementation and gives best runtimes. - Batch evaluation scripts and documentation to reproduce the ICCV'21 experiments. Additional changes: - New options in VIO to marginalize lost landmark right away and not only when the frame is marginalized (enabled by default). - small bugfix for keypoint patch extraction bounds - basalt_vio: more logging for batch evaluation - basalt_vio: better handling of closing the GUI while estimator is still running - basalt_vio: new command line argument to limit the number of frames processed - basalt_vio: new command line argument to save ground truth trajectory - added unit tests for square root marginalization - update basalt-headers - new submodules: gmt, nlohmann/json, magic_enum
84 lines
2.1 KiB
Bash
Executable File
84 lines
2.1 KiB
Bash
Executable File
#!/usr/bin/env 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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#
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# This script runs on the slurm nodes to run rootba for one config.
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set -e
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set -o pipefail
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set -x
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error() {
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local parent_lineno="$1"
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local message="$2"
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local code="${3:-1}"
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if [[ -n "$message" ]] ; then
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echo "Error on or near line ${parent_lineno}: ${message}; exiting with status ${code}"
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else
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echo "Error on or near line ${parent_lineno}; exiting with status ${code}"
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fi
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echo "Failed" >> status.log
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exit "${code}"
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}
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trap 'error ${LINENO}' ERR
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# number of logical cores on linux and macos
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NUM_CORES=`(which nproc > /dev/null && nproc) || sysctl -n hw.logicalcpu || echo 1`
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
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BASALT_BIN_DIR="${BASALT_BIN_DIR:-$SCRIPT_DIR/../../build}"
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FOLDER="${1}"
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cd "$FOLDER"
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if ! which time 2> /dev/null; then
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echo "Did not find 'time' executable. Not installed?"
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exit 1
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fi
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if [[ "$OSTYPE" == "darwin"* ]]; then
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TIMECMD="`which time` -lp"
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else
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TIMECMD="`which time` -v"
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fi
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echo "Started" >> status.log
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# set environment variables according to config
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while read l; do
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if [ -n "$l" ]; then
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eval "export $l"
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fi
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done <<< `"$SCRIPT_DIR"/query-config.py basalt_config.json batch_run.env --format-env`
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# lookup executable to run
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EXECUTABLE=`"$SCRIPT_DIR"/query-config.py basalt_config.json batch_run.executable basalt_vio`
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# lookup args
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ARGS=`"$SCRIPT_DIR"/query-config.py basalt_config.json batch_run.args --format-cli`
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CMD="$BASALT_BIN_DIR/$EXECUTABLE"
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echo "Running on '`hostname`', nproc: $NUM_CORES, bin: $CMD"
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# run as many times as specified (for timing tests to make sure filecache is hot); default is once
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rm -f output.log
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NUM_RUNS=`"$SCRIPT_DIR"/query-config.py basalt_config.json batch_run.num_runs 1`
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echo "Will run $NUM_RUNS times."
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for i in $(seq $NUM_RUNS); do
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echo ">>> Run $i" |& tee -a output.log
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{ $TIMECMD "$CMD" $ARGS; } |& tee -a output.log
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done
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echo "Completed" >> status.log
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