v02

tum_vi/eval_data.sh

@@ -1,19 +1,72 @@
-#!/bin/bash
+#! /bin/bash
 
-PREFIX="/home/ivan/ivan/git/work_drivecast2/slam_algorithms_research/tum_vi"
+export project_dir="/home/ivan/ivan/git/work_drivecast2/slam_algorithms_research/tum_vi"
+export sep=" "
 
 echo "Evaluation script for TUM-VI dataset. Don't forget to add the 'time[s] x y z qx qy qz qw' row to the top of the
-file which was obtained from ORB_SLAM3 or DSO"
+file which was obtained from ORB_SLAM3, DSO, BASALT, etc..."
+
+function show_help {
+  echo "---------------------------------------"
+  echo " Usage example: bash eval_data.sh --slam_name=dso --dataset=dataset-room3_512_16 --separator=',' --time_measure=s --sensor=monoi
+  or:
+  bash eval_data.sh -sn=orb_slam3 -d=dataset-room3_512_16 -sen=mono
+  In the last command --separator is set by default to ' ', --time-measure is set to nano by default. "
+}
 
 for i in "$@"; do
     case $i in 
         -p=*|--prefix=*)
-        PREFIX="{i#*=}"
+        project_dir="{i#*=}"
         shift
         ;;
     esac
 done
 
+if [[ $1 == -h || $1 == --help ]] ; then
+  show_help
+  exit 0
+fi
+
+for i in "$@" ; do
+  case "$i" in
+    -sn=*|--slam_name=*)
+      export slam_name="${i#*=}"
+      shift
+      ;;
+    -d=*|--dataset=*)
+      export dataset="${i#*=}"
+      shift
+      ;;
+    -sep=*|--separator=*)
+      export sep="${i#*=}"
+      shift
+      ;;
+    -sen=*|--sensor=*)
+      export sensor="${i#*=}"
+      shift 
+      ;;
+    -*|--*)
+      echo "Unknown parameter"
+      show_help
+      exit 1
+      ;;
+    *)
+      echo "Invalid usage"
+      show_help
+      exit 1
+      ;;
+  esac
+done
+
+
+if [[ $sensor != mono && $sensor != monoi && $sensor != stereo && $sensor != stereoi ]] ; then
+  echo "---------------------------------------"
+  echo "Invalid sensor. Now available only mono and monoi. Exiting..."
+  show_help
+  exit 0
+fi
+
 #CORRIDOR4="dataset-corridor4_512_16"
 #echo "Evaluation of Corridor4 trajectory with Monocular sensor"
 #python eval.py "$PREFIX"/"$CORRIDOR4"/gt_imu.csv "$PREFIX"/"$CORRIDOR4"/f_dataset_corridor4_512_16_monoi_orb_slam3.txt --switch_gt=0 --slam_name="orb_slam3" --savefile_folder="$CORRIDOR4"
@@ -24,7 +77,11 @@ done
 #python eval.py "$PREFIX"/"$MAGISTRALE5"/gt_imu.csv "$PREFIX"/"$MAGISTRALE5"/f_dataset-magistrale5_512_monoi_orb_slam3.txt --switch_gt=0 --slam_name="orb_slam3" --savefile_folder="$MAGISTRALE5"
 
 echo "---------------------------------------"
-OUTDOORS4="dataset-outdoors4_512_16"
-echo "Evaluation of Outdoors 4 trajectory with Monocular sensor"
-python eval.py "$PREFIX"/"$OUTDOORS4"/gt_imu.csv "$PREFIX"/"$OUTDOORS4"/f_dataset-outdoors4_512_mono_orb_slam3.txt --switch_gt=0 --slam_name="orb_slam3" --savefile_folder="$OUTDOORS4"
+echo "Evaluation of $dataset trajectory with Monocular sensor"
+
+export ground_truth_file="${project_dir}"/"$dataset"/data.csv
+export estimations_file="$project_dir"/"$dataset"/f_${dataset}_${sensor}_${slam_name}.txt
+
+python eval.py "$ground_truth_file" "$estimations_file" --switch_gt=1 --slam_name="$slam_name" --savefile_folder="$dataset" --sensor="$sensor" --separator="$sep"
+