37 lines
2.7 KiB
Bash
37 lines
2.7 KiB
Bash
#!/bin/bash
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pathDatasetEuroc='/Datasets/EuRoC' #Example, it is necesary to change it by the dataset path
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# Single Session Example (Pure visual)
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echo "Launching MH01 with Stereo sensor"
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./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
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echo "------------------------------------"
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echo "Evaluation of MH01 trajectory with Stereo sensor"
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python evaluation/evaluate_ate_scale.py evaluation/Ground_truth/EuRoC_left_cam/MH01_GT.txt f_dataset-MH01_stereo.txt --plot MH01_stereo.pdf
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# MultiSession Example (Pure visual)
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echo "Launching Machine Hall with Stereo sensor"
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./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Stereo/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Stereo/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereo
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echo "------------------------------------"
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echo "Evaluation of MAchine Hall trajectory with Stereo sensor"
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python evaluation/evaluate_ate_scale.py evaluation/Ground_truth/EuRoC_left_cam/MH_GT.txt f_dataset-MH01_to_MH05_stereo.txt --plot MH01_to_MH05_stereo.pdf
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# Single Session Example (Visual-Inertial)
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echo "Launching V102 with Monocular-Inertial sensor"
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./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi
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echo "------------------------------------"
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echo "Evaluation of V102 trajectory with Monocular-Inertial sensor"
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python evaluation/evaluate_ate_scale.py "$pathDatasetEuroc"/V102/mav0/state_groundtruth_estimate0/data.csv f_dataset-V102_monoi.txt --plot V102_monoi.pdf
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# MultiSession Monocular Examples
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echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
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./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi
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echo "------------------------------------"
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echo "Evaluation of Vicon Room 2 trajectory with Stereo sensor"
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python evaluation/evaluate_ate_scale.py evaluation/Ground_truth/EuRoC_imu/V2_GT.txt f_dataset-V201_to_V203_monoi.txt --plot V201_to_V203_monoi.pdf
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