#! /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 "