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orb_slam3_details/Examples/euroc_examples.sh

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2021-09-03 14:24:01 +08:00
#!/bin/bash
pathDatasetEuroc='/Datasets/EuRoC' #Example, it is necesary to change it by the dataset path
#------------------------------------
# Monocular Examples
echo "Launching MH01 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono
echo "Launching MH02 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt dataset-MH02_mono
echo "Launching MH03 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt dataset-MH03_mono
echo "Launching MH04 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt dataset-MH04_mono
echo "Launching MH05 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH05_mono
echo "Launching V101 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt dataset-V101_mono
echo "Launching V102 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt dataset-V102_mono
echo "Launching V103 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V103_mono
echo "Launching V201 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt dataset-V201_mono
echo "Launching V202 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt dataset-V202_mono
echo "Launching V203 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V203_mono
# MultiSession Monocular Examples
echo "Launching Machine Hall with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_mono
echo "Launching Vicon Room 1 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_mono
echo "Launching Vicon Room 2 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_mono
#------------------------------------
# Stereo Examples
echo "Launching MH01 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
echo "Launching MH02 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereo
echo "Launching MH03 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereo
echo "Launching MH04 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereo
echo "Launching MH05 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereo
echo "Launching V101 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt dataset-V101_stereo
echo "Launching V102 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt dataset-V102_stereo
echo "Launching V103 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V103_stereo
echo "Launching V201 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt dataset-V201_stereo
echo "Launching V202 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt dataset-V202_stereo
echo "Launching V203 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V203_stereo
# MultiSession Stereo Examples
echo "Launching Machine Hall with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereo
echo "Launching Vicon Room 1 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereo
echo "Launching Vicon Room 2 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereo
#------------------------------------
# Monocular-Inertial Examples
echo "Launching MH01 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi
echo "Launching MH02 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_monoi
echo "Launching MH03 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_monoi
echo "Launching MH04 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_monoi
echo "Launching MH05 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_monoi
echo "Launching V101 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_monoi
echo "Launching V102 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi
echo "Launching V103 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_monoi
echo "Launching V201 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_monoi
echo "Launching V202 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_monoi
echo "Launching V203 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_monoi
# MultiSession Monocular Examples
echo "Launching Machine Hall with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_monoi
echo "Launching Vicon Room 1 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_monoi
echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi
#------------------------------------
# Stereo-Inertial Examples
echo "Launching MH01 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi
echo "Launching MH02 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereoi
echo "Launching MH03 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereoi
echo "Launching MH04 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereoi
echo "Launching MH05 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereoi
echo "Launching V101 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_stereoi
echo "Launching V102 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_stereoi
echo "Launching V103 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_stereoi
echo "Launching V201 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_stereoi
echo "Launching V202 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_stereoi
echo "Launching V203 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_stereoi
# MultiSession Stereo-Inertial Examples
echo "Launching Machine Hall with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereoi
echo "Launching Vicon Room 1 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereoi
echo "Launching Vicon Room 2 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereoi