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ov_msckf/scripts/run_sim_calib.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 ${SCRIPT_DIR}/../../../../devel/setup.bash
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+# datasets
+datasets=(
+     "udel_gore"
+#    "udel_arl"
+#    "udel_gore_zupt"
+#    "tum_corridor1_512_16_okvis"
+)
+
+# If we want to calibrate parameters
+sim_do_calibration=(
+    "false"
+    "true"
+)
+
+# If we want to perturb the initial state values
+sim_do_perturbation=(
+    "false"
+    "true"
+)
+
+# location to save log files into
+save_path_est="/home/chuchu/test_ov/openvins_pra/sim_calib/algorithms"
+save_path_gt="/home/chuchu/test_ov/openvins_pra/sim_calib/truths"
+
+#=============================================================
+# Start the Monte Carlo Simulations
+#=============================================================
+
+# Loop through the datasets
+for h in "${!datasets[@]}"; do
+# Loop through if we want to calibrate
+for m in "${!sim_do_calibration[@]}"; do
+# Loop through if we want to perturb
+for n in "${!sim_do_perturbation[@]}"; do
+# Monte Carlo runs for this dataset
+for j in {00..02}; do
+
+
+filename_est="$save_path_est/calib_${sim_do_calibration[m]}/perturb_${sim_do_perturbation[n]}/${datasets[h]}/estimate_$j.txt"
+filename_gt="$save_path_gt/${datasets[h]}.txt"
+
+#===============================================
+# Start Monte Carlo Simulations
+#===============================================
+start_time="$(date -u +%s)"
+roslaunch ov_msckf simulation.launch \
+  seed:="$((10#$j + 1))" \
+  dataset:="${datasets[h]}.txt" \
+  sim_do_calibration:="${sim_do_calibration[m]}" \
+  sim_do_perturbation:="${sim_do_perturbation[n]}" \
+  dosave_pose:="true" \
+  path_est:="$filename_est" \
+  path_gt:="$filename_gt" &> /dev/null
+end_time="$(date -u +%s)"
+elapsed="$(($end_time-$start_time))"
+echo "BASH: ${datasets[h]} - calib_${sim_do_calibration[m]} - perturb_${sim_do_perturbation[n]} - run $j took $elapsed seconds";
+#===============================================
+#===============================================
+
+done
+done
+done
+done
+