initial commit

ov_msckf/scripts/run_sim_rep.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 ${SCRIPT_DIR}/../../../../devel/setup.bash
+
+#=============================================================
+#=============================================================
+#=============================================================
+
+# datasets
+datasets=(
+#    "udel_gore"
+     "udel_arl"
+#    "udel_gore_zupt"
+#    "tum_corridor1_512_16_okvis"
+)
+
+# estimator configurations
+usefej=(
+    "false"
+    "true"
+)
+
+# feature representations
+representations=(
+    "GLOBAL_3D"
+    "GLOBAL_FULL_INVERSE_DEPTH"
+    "ANCHORED_3D"
+    "ANCHORED_FULL_INVERSE_DEPTH"
+    "ANCHORED_MSCKF_INVERSE_DEPTH"
+    "ANCHORED_INVERSE_DEPTH_SINGLE"
+)
+
+# location to save log files into
+save_path_est="/home/cc/test/openvins_pra/sim_representations/algorithms"
+save_path_gt="/home/cc/test/openvins_pra/sim_representations/truths"
+
+
+#=============================================================
+# Start Monte-Carlo Simulations
+#=============================================================
+
+# Loop through datasets
+for m in "${!datasets[@]}"; do
+# Loop through if use fej or not
+for h in "${!usefej[@]}"; do
+# Loop through all representations
+for i in "${!representations[@]}"; do
+# Monte Carlo runs for this dataset
+for j in {00..09}; do
+
+# start timing
+start_time="$(date -u +%s)"
+
+# filename change if we are using fej
+if [ "${usefej[h]}" == "true" ]
+then
+    temp="_FEJ"
+else
+    temp=""
+fi
+filename_est="$save_path_est/${representations[i]}$temp/${datasets[m]}/estimate_$j.txt"
+filename_gt="$save_path_gt/${datasets[m]}.txt"
+
+# run our ROS launch file (note we send console output to terminator)
+roslaunch ov_msckf simulation.launch \
+  seed:="$((10#$j + 1))" \
+  dataset:="${datasets[m]}.txt" \
+  fej:="${usefej[h]}" \
+  feat_rep:="${representations[i]}" \
+  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[m]} - ${usefej[h]} - ${representations[i]} - run $j took $elapsed seconds";
+
+
+done
+done
+done
+done