initial commit

ov_msckf/scripts/run_ros_tumvi.sh

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+#!/usr/bin/env bash
+
+# Source our workspace directory to load ENV variables
+SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+source ${SCRIPT_DIR}/../../../../devel/setup.bash
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+# estimator configurations
+modes=(
+  "mono"
+  "binocular"
+  "stereo"
+)
+
+# dataset locations
+bagnames=(
+  "dataset-room1_512_16"
+  "dataset-room2_512_16"
+  "dataset-room3_512_16"
+  "dataset-room4_512_16"
+  "dataset-room5_512_16"
+  "dataset-room6_512_16"
+)
+
+# how far we should start into the dataset
+# this can be used to skip the initial sections
+bagstarttimes=(
+  "0"
+  "0"
+  "0"
+  "0"
+  "0"
+  "0"
+)
+
+# location to save log files into
+save_path1="/home/chuchu/test_ov/openvins_pra/exp_tum/algorithms"
+save_path2="/home/chuchu/test_ov/openvins_pra/exp_tum/timings"
+bag_path="/home/chuchu/datasets/tum_vi"
+
+
+#=============================================================
+#=============================================================
+#=============================================================
+# TODO: Still need to test all, see how to get imu threshold in
+# Loop through all modes
+for h in "${!modes[@]}"; do
+# Loop through all datasets
+for i in "${!bagnames[@]}"; do
+
+# Monte Carlo runs for this dataset
+# If you want more runs, change the below loop
+for j in {00..04}; do
+
+# start timing
+start_time="$(date -u +%s)"
+filename_est="$save_path1/ov_2.4_${modes[h]}/${bagnames[i]}/${j}_estimate.txt"
+filename_time="$save_path2/ov_2.4_${modes[h]}/${bagnames[i]}/${j}_timing.txt"
+
+# number of cameras
+if [ "${modes[h]}" == "mono" ]
+then
+  temp1="1"
+  temp2="true"
+fi
+if [ "${modes[h]}" == "binocular" ]
+then
+  temp1="2"
+  temp2="false"
+fi
+if [ "${modes[h]}" == "stereo" ]
+then
+  temp1="2"
+  temp2="true"
+fi
+
+# run our ROS launch file (note we send console output to terminator)
+roslaunch ov_msckf serial.launch \
+  max_cameras:="$temp1" \
+  use_stereo:="$temp2" \
+  config:="tum_vi" \
+  bag:="$bag_path/${bagnames[i]}.bag" \
+  bag_start:="${bagstarttimes[i]}" \
+  dosave:="true" \
+  path_est:="$filename_est" \
+  dotime:="true" \
+  dolivetraj:="true" \
+  path_time:="$filename_time" &> /dev/null
+
+# print out the time elapsed
+end_time="$(date -u +%s)"
+elapsed="$(($end_time-$start_time))"
+echo "BASH: ${modes[h]} - ${bagnames[i]} - run $j took $elapsed seconds";
+
+done
+
+
+done
+done
+
+