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