v02

mono-kitti/dso_mono_kitti_examples.sh

@@ -0,0 +1,59 @@
+#! /bin/bash
+
+echo " "
+echo "Script for running DSO on Monocular KITTI dataset."
+echo "--------------------------------------------------------"
+
+export DIR_DATASET=/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences
+#export DSO_BINARY_DIR=/home/ivan/ivan/git/work_drivecast2/SLAM/dso/build/bin
+export DSO_BINARY_DIR=/home/ivan/ivan/git/work_drivecast2/SLAM/dso/cmake-build-debug/bin
+
+function show_help {
+  echo "--------------------------------------------------------"
+	echo "Example of usage: -d=00 or --dataset=01. They are used to as the
+	  folder names in KITTI dataset folder. Output file doesn't change the name. Don't forget to rename and move the
+	  result before the next run."
+ }
+
+if [[ ($1 == -h || $1 == --help) ]] ; then
+  show_help
+  exit 0
+fi
+
+for i in "$@"; do
+  case "$i" in
+    -d=*|--dataset=*)
+      export DATASET="${i#*=}"
+      export DATASET_DIR="$DIR_DATASET"/"$DATASET"
+#      echo "$DATASET:"
+      shift
+      ;;
+    -*|--*)
+      echo "Unknown option $i"
+      show_help
+      exit 1
+      ;;
+    *)
+      echo "Invalid usage."
+      show_help
+      exit 1
+      ;;
+  esac
+done
+
+echo "$DATASET dataset starting..."
+"$DSO_BINARY_DIR"/dso_dataset files="$DATASET_DIR"/image_0 calib="$DATASET_DIR"/camera.txt preset=0 mode=1
+
+export FILENAME="${DATASET}_mono_dso.txt"
+mv result.txt "$DATASET"/"$FILENAME"
+mv result_online.txt "$DATASET"/"${DATASET}_mono_dso_online.txt"
+
+# The dataset and the directory have the same name. 
+./converter "$DATASET" "$FILENAME"
+./converter "$DATASET" "${DATASET}_mono_dso_online.txt"
+
+export CONVERTED_FILENAME="f_${DATASET}_mono_dso.txt"
+mv "$DATASET"/"${DATASET}_mono_dso_converted.txt" "${DATASET}"/"$CONVERTED_FILENAME"
+mv "$DATASET"/"${DATASET}_mono_dso_online_converted.txt" "${DATASET}"/"f_${DATASET}_mono_dso_online.txt"
+
+echo "Success! Check $DATASET directory for the output file "