86 lines
2.2 KiB
Bash
Executable File
86 lines
2.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Source our workspace directory to load ENV variables
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SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
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source ${SCRIPT_DIR}/../../../../devel/setup.bash
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#=============================================================
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#=============================================================
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#=============================================================
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# datasets
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datasets=(
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# "udel_gore"
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"udel_arl"
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# "udel_gore_zupt"
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# "tum_corridor1_512_16_okvis"
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)
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# estimator configurations
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usefej=(
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"false"
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"true"
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)
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# feature representations
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representations=(
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"GLOBAL_3D"
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"GLOBAL_FULL_INVERSE_DEPTH"
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"ANCHORED_3D"
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"ANCHORED_FULL_INVERSE_DEPTH"
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"ANCHORED_MSCKF_INVERSE_DEPTH"
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"ANCHORED_INVERSE_DEPTH_SINGLE"
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)
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# location to save log files into
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save_path_est="/home/cc/test/openvins_pra/sim_representations/algorithms"
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save_path_gt="/home/cc/test/openvins_pra/sim_representations/truths"
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#=============================================================
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# Start Monte-Carlo Simulations
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#=============================================================
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# Loop through datasets
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for m in "${!datasets[@]}"; do
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# Loop through if use fej or not
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for h in "${!usefej[@]}"; do
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# Loop through all representations
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for i in "${!representations[@]}"; do
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# Monte Carlo runs for this dataset
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for j in {00..09}; do
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# start timing
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start_time="$(date -u +%s)"
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# filename change if we are using fej
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if [ "${usefej[h]}" == "true" ]
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then
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temp="_FEJ"
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else
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temp=""
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fi
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filename_est="$save_path_est/${representations[i]}$temp/${datasets[m]}/estimate_$j.txt"
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filename_gt="$save_path_gt/${datasets[m]}.txt"
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# run our ROS launch file (note we send console output to terminator)
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roslaunch ov_msckf simulation.launch \
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seed:="$((10#$j + 1))" \
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dataset:="${datasets[m]}.txt" \
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fej:="${usefej[h]}" \
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feat_rep:="${representations[i]}" \
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dosave_pose:="true" \
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path_est:="$filename_est" \
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path_gt:="$filename_gt" &> /dev/null
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# print out the time elapsed
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end_time="$(date -u +%s)"
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elapsed="$(($end_time-$start_time))"
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echo "BASH: ${datasets[m]} - ${usefej[h]} - ${representations[i]} - run $j took $elapsed seconds";
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done
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done
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done
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done
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