#!/bin/bash

PREFIX="/home/ivan/ivan/git/work_drivecast2/slam_algorithms_research/tum_vi"

echo "Evaluation script for TUM-VI dataset. Don't forget to add the 'time[s] x y z qx qy qz qw' row to the top of the
file which was obtained from ORB_SLAM3 or DSO"

for i in "$@"; do
    case $i in 
        -p=*|--prefix=*)
        PREFIX="{i#*=}"
        shift
        ;;
    esac
done

#CORRIDOR4="dataset-corridor4_512_16"
#echo "Evaluation of Corridor4 trajectory with Monocular sensor"
#python eval.py "$PREFIX"/"$CORRIDOR4"/gt_imu.csv "$PREFIX"/"$CORRIDOR4"/f_dataset_corridor4_512_16_monoi_orb_slam3.txt --switch_gt=0 --slam_name="orb_slam3" --savefile_folder="$CORRIDOR4"

#echo "---------------------------------------"
#MAGISTRALE5="dataset-magistrale5_512_16"
#echo "Evaluation of Magistrale 5 trajectory with Monocular sensor"
#python eval.py "$PREFIX"/"$MAGISTRALE5"/gt_imu.csv "$PREFIX"/"$MAGISTRALE5"/f_dataset-magistrale5_512_monoi_orb_slam3.txt --switch_gt=0 --slam_name="orb_slam3" --savefile_folder="$MAGISTRALE5"

echo "---------------------------------------"
OUTDOORS4="dataset-outdoors4_512_16"
echo "Evaluation of Outdoors 4 trajectory with Monocular sensor"
python eval.py "$PREFIX"/"$OUTDOORS4"/gt_imu.csv "$PREFIX"/"$OUTDOORS4"/f_dataset-outdoors4_512_mono_orb_slam3.txt --switch_gt=0 --slam_name="orb_slam3" --savefile_folder="$OUTDOORS4"