60 lines
1.8 KiB
Bash
60 lines
1.8 KiB
Bash
#! /bin/bash
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echo " "
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echo "Script for running DSO on Monocular KITTI dataset."
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echo "--------------------------------------------------------"
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export DIR_DATASET=/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences
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#export DSO_BINARY_DIR=/home/ivan/ivan/git/work_drivecast2/SLAM/dso/build/bin
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export DSO_BINARY_DIR=/home/ivan/ivan/git/work_drivecast2/SLAM/dso/cmake-build-debug/bin
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function show_help {
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echo "--------------------------------------------------------"
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echo "Example of usage: -d=00 or --dataset=01. They are used to as the
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folder names in KITTI dataset folder. Output file doesn't change the name. Don't forget to rename and move the
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result before the next run."
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}
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if [[ ($1 == -h || $1 == --help) ]] ; then
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show_help
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exit 0
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fi
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for i in "$@"; do
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case "$i" in
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-d=*|--dataset=*)
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export DATASET="${i#*=}"
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export DATASET_DIR="$DIR_DATASET"/"$DATASET"
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# echo "$DATASET:"
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shift
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;;
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-*|--*)
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echo "Unknown option $i"
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show_help
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exit 1
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;;
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*)
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echo "Invalid usage."
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show_help
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exit 1
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;;
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esac
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done
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echo "$DATASET dataset starting..."
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"$DSO_BINARY_DIR"/dso_dataset files="$DATASET_DIR"/image_0 calib="$DATASET_DIR"/camera.txt preset=0 mode=1
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export FILENAME="${DATASET}_mono_dso.txt"
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mv result.txt "$DATASET"/"$FILENAME"
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mv result_online.txt "$DATASET"/"${DATASET}_mono_dso_online.txt"
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# The dataset and the directory have the same name.
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./converter "$DATASET" "$FILENAME"
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./converter "$DATASET" "${DATASET}_mono_dso_online.txt"
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export CONVERTED_FILENAME="f_${DATASET}_mono_dso.txt"
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mv "$DATASET"/"${DATASET}_mono_dso_converted.txt" "${DATASET}"/"$CONVERTED_FILENAME"
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mv "$DATASET"/"${DATASET}_mono_dso_online_converted.txt" "${DATASET}"/"f_${DATASET}_mono_dso_online.txt"
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echo "Success! Check $DATASET directory for the output file "
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