initial commit

ov_msckf/scripts/run_sim_cams.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 ${SCRIPT_DIR}/../../../../devel/setup.bash
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+# datasets
+datasets=(
+      "udel_gore"
+#    "udel_arl"
+#    "udel_gore_zupt"
+#    "tum_corridor1_512_16_okvis"
+)
+
+# number of cameras
+cameras=(
+    "1"
+    "2"
+    "3"
+    "4"
+)
+
+# location to save log files into
+save_path_est="/home/cc/test/openvins_pra/sim_cam/algorithms"
+save_path_gt="/home/cc/test/openvins_pra/sim_cam/truths"
+
+#=============================================================
+# Start Monte-Carlo Simulations
+#=============================================================
+# Loop through datasets
+for h in "${!datasets[@]}"; do
+# Loop through number of cameras we want to use
+for i in "${!cameras[@]}"; do
+# Monte Carlo runs for this dataset
+for j in {00..02}; do
+
+# start timing
+start_time="$(date -u +%s)"
+
+# our filename
+filename_est="$save_path_est/ov_v23_cam${cameras[i]}/${datasets[h]}/estimate_$j.txt"
+filename_gt="$save_path_gt/${datasets[h]}.txt"
+
+# run our ROS launch file (note we send console output to terminator)
+roslaunch ov_msckf simulation.launch \
+  seed:="$((10#$j + 1))" \
+  max_cameras:="${cameras[i]}" \
+  dataset:="${datasets[h]}.txt" \
+  dosave_pose:="true" \
+  path_est:="$filename_est" \
+  path_gt:="$filename_gt" &> /dev/null
+
+# print out the time elapsed
+end_time="$(date -u +%s)"
+elapsed="$(($end_time-$start_time))"
+echo "BASH: ${datasets[h]} - ${cameras[i]} - run $j took $elapsed seconds";
+
+
+done
+done
+done
+