#!/bin/bash
pathDatasetTUM_VI='/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/tum_mono_vi' #Example, it is necesary to change it by the dataset path


# Single Session Example

#echo "Launching Magistrale5 with Monocuar sensor"
#./Monocular/mono_tum_vi ../Vocabulary/ORBvoc.txt ./Monocular/TUM-VI.yaml "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data ./Monocular/TUM_TimeStamps/dataset-magistrale_512.txt dataset-magistrale5_512_monoi

echo "------------------------------------"
echo "Evaluation of Magistrale5 trajectory with Monocular sensor"
python2 ../evaluation/evaluate_ate_scale.py "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/mocap0/data.csv f_dataset-magistrale5_512_mono.txt --plot dataset-magistrale5_512_16_mono.pdf --verbose2

#echo "------------------------------------"
#echo "Evaluation of Outdoors 4 trajectory with Monocular sensor"
#python2 ../evaluation/evaluate_ate_scale.py "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/mocap0/data.csv f_dataset-outdoors4_512_mono.txt --plot dataset-outdoors4_512_16_mono.pdf --verbose2