74 lines
2.4 KiB
Bash
74 lines
2.4 KiB
Bash
#! /bin/bash
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echo " "
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echo "Script for running ORB_SLAM3 on Monocular mono-kitti dataset."
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echo "--------------------------------------------------------"
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# ORB_SLAM3 Directories
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pathDatasetMono_KITTI='/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences' #Example, it is necesary to change it in your case
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orb_slam3_dir="/home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release"
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echo "KITTI dataset path is: $pathDatasetMono_KITTI"
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echo "ORB_SLAM3 directory is: $orb_slam3_dir"
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echo "--------------------------------------------------------"
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function show_help {
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echo "--------------------------------------------------------"
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echo "Example of usage: -d=00 or --dataset=00. They are used as the
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folder names in tum-vi 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=$pathDatasetMono_KITTI/$DATASET
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shift
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;;
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-*|--*)
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echo "Unknown option $i"
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show_help
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exit 1
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;;
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*)
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echo "Invalid usage."
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show_help
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exit 1
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;;
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esac
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done
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#------------------------------------
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# Monocular Examples
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#Extract the name of the folder with the timestamps in tum-vi dataset.
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COPY_DATASET=${DATASET}
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LEN=${#COPY_DATASET}
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for ((i=$LEN-1;i>=0;i--)) ; do REV="$REV${COPY_DATASET:$i:1}"; done
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REV_CUTTED=${REV:3}
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LEN=${#REV_CUTTED}
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for ((i=$LEN-1;i>=0;i--)) ; do TIMESTAMPS_FILENAME="$TIMESTAMPS_FILENAME${REV_CUTTED:$i:1}"; done
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echo "The filename is the following: $TIMESTAMPS_FILENAME"
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REV_ATLAS_CUTTED=${REV:7}
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LEN=${#REV_ATLAS_CUTTED}
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for ((i=$LEN-1;i>=0;i--)) ; do ATLAS_NAME="$ATLAS_NAME${REV_ATLAS_CUTTED:$i:1}"; done
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ATLAS_NAME="${ATLAS_ANME:8}Atlas.osa"
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echo "The atlas name is the following: $ATLAS_NAME"
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echo "Launching $DATASET with Monocular sensor"
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echo "Dataset directory is: $DATASET_DIR"
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"$orb_slam3_dir"/Examples/Monocular/mono_kitti "$orb_slam3_dir"/Vocabulary/ORBvoc.txt "$orb_slam3_dir"/Examples/Monocular/KITTI04-12.yaml "$DATASET_DIR"
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mv "f_${DATASET}_mono.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3.txt"
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mv "kf_${DATASET}_mono.txt" "$DATASET"/"kf_${DATASET}_mono_orb_slam3.txt"
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mv "f_ ${DATASET}_mono_raw.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3_raw.txt"
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mv "$ATLAS_NAME" "$DATASET/$ATLAS_NAME"
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