v01

scripts/eval_full/run_evaluations_kitti.sh

@@ -0,0 +1,33 @@
+#!/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/kitti_odom_grey/sequences
+
+DATASETS=(00 02 03 04 05 06 07 08 09 10)
+
+
+folder_name=eval_results_kitti
+mkdir $folder_name
+
+for d in ${DATASETS[$CI_NODE_INDEX-1]}; do
+echo $d
+   basalt_vio --dataset-path  $DATASET_PATH/$d --cam-calib $DATASET_PATH/$d/basalt_calib.json \
+        --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
+
+   mv trajectory_kitti.txt $folder_name/kitti_$d.txt
+
+   basalt_kitti_eval --traj-path $folder_name/kitti_$d.txt --gt-path $DATASET_PATH/$d/poses.txt --result-path $folder_name/rpe_$d.txt
+
+done
+