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mono-kitti/run_orb-slam3_mono_kitti.sh

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+#! /bin/bash
+
+echo " "
+echo "Script for running ORB_SLAM3 on Monocular mono-kitti dataset."
+echo "--------------------------------------------------------"
+
+# ORB_SLAM3 Directories
+pathDatasetMono_KITTI='/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences' #Example, it is necesary to change it in your case
+orb_slam3_dir="/home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release"
+
+echo "KITTI dataset path is: $pathDatasetMono_KITTI"
+echo "ORB_SLAM3 directory is: $orb_slam3_dir"
+echo "--------------------------------------------------------"
+
+function show_help {
+  echo "--------------------------------------------------------"
+	echo "Example of usage: -d=00 or --dataset=00. They are used as the
+	  folder names in tum-vi dataset folder. Output file doesn't change the name. Don't forget to rename and move the
+	  result before the next run."
+}
+ 
+if [[ $1 == -h || $1 == --help ]] ; then
+	show_help
+ 	exit 0
+fi
+
+for i in "$@"; do
+	case "$i" in
+	  -d=*|--dataset=*)
+	    export DATASET="${i#*=}"
+	    export DATASET_DIR=$pathDatasetMono_KITTI/$DATASET
+	    shift
+	    ;;
+	  -*|--*)
+	    echo "Unknown option $i"
+	    show_help
+	    exit 1
+	    ;;
+	  *)
+	    echo "Invalid usage."
+	    show_help
+	    exit 1
+	    ;;
+	esac
+done
+
+#------------------------------------
+# Monocular Examples
+
+#Extract the name of the folder with the timestamps in tum-vi dataset. 
+COPY_DATASET=${DATASET}
+LEN=${#COPY_DATASET}
+for ((i=$LEN-1;i>=0;i--)) ; do REV="$REV${COPY_DATASET:$i:1}"; done
+
+REV_CUTTED=${REV:3}
+LEN=${#REV_CUTTED}
+for ((i=$LEN-1;i>=0;i--)) ; do TIMESTAMPS_FILENAME="$TIMESTAMPS_FILENAME${REV_CUTTED:$i:1}"; done
+echo "The filename is the following: $TIMESTAMPS_FILENAME"
+
+REV_ATLAS_CUTTED=${REV:7}
+LEN=${#REV_ATLAS_CUTTED}
+for ((i=$LEN-1;i>=0;i--)) ; do ATLAS_NAME="$ATLAS_NAME${REV_ATLAS_CUTTED:$i:1}"; done
+ATLAS_NAME="${ATLAS_ANME:8}Atlas.osa"
+echo "The atlas name is the following: $ATLAS_NAME"
+
+echo "Launching $DATASET with Monocular sensor"
+echo "Dataset directory is: $DATASET_DIR"
+"$orb_slam3_dir"/Examples/Monocular/mono_kitti "$orb_slam3_dir"/Vocabulary/ORBvoc.txt "$orb_slam3_dir"/Examples/Monocular/KITTI04-12.yaml "$DATASET_DIR"
+
+mv "f_${DATASET}_mono.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3.txt"
+mv "kf_${DATASET}_mono.txt" "$DATASET"/"kf_${DATASET}_mono_orb_slam3.txt"
+mv "f_ ${DATASET}_mono_raw.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3_raw.txt"
+mv "$ATLAS_NAME" "$DATASET/$ATLAS_NAME"