v01

scripts/eval_full/run_evaluations.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+##
+## BSD 3-Clause License
+##
+## This file is part of the Basalt project.
+## https://gitlab.com/VladyslavUsenko/basalt.git
+##
+## Copyright (c) 2019-2021, Vladyslav Usenko and Nikolaus Demmel.
+## All rights reserved.
+##
+
+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_eucm_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 --save-trajectory tum
+
+   mv trajectory.txt $folder_name/traj_vio_$d.txt
+
+    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 \
+        --result-path $folder_name/mapper_$d
+
+    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 \
+        --result-path $folder_name/mapper_no_weights_$d
+    
+        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 \
+        --result-path $folder_name/mapper_no_factors_$d
+    
+    rm -rf eval_tmp_marg_data
+done
+
+#./gen_results.py $folder_name > euroc_results.txt