#! /bin/bash

export project_dir="/home/ivan/ivan/git/work_drivecast2/slam_algorithms_research/tum_vi"
export sep=" "

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, DSO, BASALT, etc..."

function show_help {
  echo "---------------------------------------"
  echo " Usage example: bash eval_data.sh --slam_name=dso --dataset=dataset-room3_512_16 --separator=',' --time_measure=s --sensor=monoi
  or:
  bash eval_data.sh -sn=orb_slam3 -d=dataset-room3_512_16 -sen=mono
  In the last command --separator is set by default to ' ', --time-measure is set to nano by default. "
}

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

if [[ $1 == -h || $1 == --help ]] ; then
  show_help
  exit 0
fi

for i in "$@" ; do
  case "$i" in
    -sn=*|--slam_name=*)
      export slam_name="${i#*=}"
      shift
      ;;
    -d=*|--dataset=*)
      export dataset="${i#*=}"
      shift
      ;;
    -sep=*|--separator=*)
      export sep="${i#*=}"
      shift
      ;;
    -sen=*|--sensor=*)
      export sensor="${i#*=}"
      shift 
      ;;
    -*|--*)
      echo "Unknown parameter"
      show_help
      exit 1
      ;;
    *)
      echo "Invalid usage"
      show_help
      exit 1
      ;;
  esac
done


if [[ $sensor != mono && $sensor != monoi && $sensor != stereo && $sensor != stereoi ]] ; then
  echo "---------------------------------------"
  echo "Invalid sensor. Now available only mono and monoi. Exiting..."
  show_help
  exit 0
fi

#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 "---------------------------------------"
echo "Evaluation of $dataset trajectory with Monocular sensor"

export ground_truth_file="${project_dir}"/"$dataset"/data.csv
export estimations_file="$project_dir"/"$dataset"/f_${dataset}_${sensor}_${slam_name}.txt

python eval.py "$ground_truth_file" "$estimations_file" --switch_gt=1 --slam_name="$slam_name" --savefile_folder="$dataset" --sensor="$sensor" --separator="$sep"