88 lines
2.6 KiB
Bash
88 lines
2.6 KiB
Bash
#! /bin/bash
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export project_dir="/home/ivan/ivan/git/work_drivecast2/slam_algorithms_research/tum_vi"
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export sep=" "
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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
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file which was obtained from ORB_SLAM3, DSO, BASALT, etc..."
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function show_help {
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echo "---------------------------------------"
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echo " Usage example: bash eval_data.sh --slam_name=dso --dataset=dataset-room3_512_16 --separator=',' --time_measure=s --sensor=monoi
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or:
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bash eval_data.sh -sn=orb_slam3 -d=dataset-room3_512_16 -sen=mono
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In the last command --separator is set by default to ' ', --time-measure is set to nano by default. "
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}
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for i in "$@"; do
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case $i in
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-p=*|--prefix=*)
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project_dir="{i#*=}"
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shift
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;;
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esac
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done
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if [[ $1 == -h || $1 == --help ]] ; then
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show_help
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exit 0
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fi
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for i in "$@" ; do
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case "$i" in
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-sn=*|--slam_name=*)
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export slam_name="${i#*=}"
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shift
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;;
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-d=*|--dataset=*)
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export dataset="${i#*=}"
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shift
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;;
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-sep=*|--separator=*)
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export sep="${i#*=}"
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shift
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;;
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-sen=*|--sensor=*)
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export sensor="${i#*=}"
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shift
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;;
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-*|--*)
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echo "Unknown parameter"
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show_help
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exit 1
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;;
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*)
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echo "Invalid usage"
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show_help
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exit 1
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;;
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esac
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done
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if [[ $sensor != mono && $sensor != monoi && $sensor != stereo && $sensor != stereoi ]] ; then
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echo "---------------------------------------"
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echo "Invalid sensor. Now available only mono and monoi. Exiting..."
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show_help
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exit 0
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fi
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#CORRIDOR4="dataset-corridor4_512_16"
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#echo "Evaluation of Corridor4 trajectory with Monocular sensor"
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#python eval.py "$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"
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#echo "---------------------------------------"
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#MAGISTRALE5="dataset-magistrale5_512_16"
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#echo "Evaluation of Magistrale 5 trajectory with Monocular sensor"
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#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"
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echo "---------------------------------------"
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echo "Evaluation of $dataset trajectory with Monocular sensor"
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export ground_truth_file="${project_dir}"/"$dataset"/data.csv
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export estimations_file="$project_dir"/"$dataset"/f_${dataset}_${sensor}_${slam_name}.txt
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python eval.py "$ground_truth_file" "$estimations_file" --switch_gt=1 --slam_name="$slam_name" --savefile_folder="$dataset" --sensor="$sensor" --separator="$sep"
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