Updated README and added the scripts to launch some examples

README.md

@@ -75,94 +75,27 @@ chmod +x build.sh
 
 This will create **libORB_SLAM3.so**  at *lib* folder and the executables in *Examples* folder.
 
-# 4. Monocular Examples
-
-## EuRoC Dataset(Pinhole)
+# 4. EuRoC Examples
+EuRoC had been recorder with two pinhole cameras and an inertial sensor, we provide an example script to launch them with the desired configuration.
 
 1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
 
-2. Execute the following first command to execute as pure visual, or the second command to visual-inertial. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.
-```
-./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt 
-```
+2. Open the script "euroc_examples.sh" in the root of the project. Change the value of **pathDatasetEuroc** variable by the path where the dataset has been uncompress. 
 
+3. Execute the following script to process all the sequences with all sensor configurations
 ```
-./Examples/Monocular-Inertial/mono_inertial_euroc Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/SEQUENCE.txt PATH_TO_SEQUENCE_FOLDER/mav0/imu0/data.csv
+./euroc_examples
 ```
 
-## TUM-VI Dataset(Fisheye)
+Each example can be executed in the console, you need to copy the command and change "$pathDatasetEuroc" by the path of the dataset.
 
-1. Download a sequence from https://vision.in.tum.de/data/datasets/visual-inertial-dataset and uncompress it.
+## Evaluation
 
-2. Execute the following command to execute as monocular-inertial. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.
 
-```
-./Examples/Monocular-Inertial/mono_inertial_tum Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/SEQUENCE.txt Examples/Monocular-Inertial/TUM_IMU/SEQUENCE.txt
-```
 
-# 5. Stereo Examples
-
-## EuRoC Dataset(Pinhole)
-
-1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
-
-2. Execute the following first command to execute as pure visual , or the second command to visual-inertial. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.
-```
-./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data PATH_TO_SEQUENCE_FOLDER/mav0/cam1/data Examples/Stereo/EuRoC_TimeStamps/SEQUENCE.txt
-```
-```
-./Examples/Stereo-Inertial/stereo_inertial_euroc Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/cam0/data PATH_TO_SEQUENCE_FOLDER/cam1/data Examples/Stereo-Inertial/EuRoC_TimeStamps/SEQUENCE.txt PATH_TO_SEQUENCE_FOLDER/mav0/imu0/data.csv
-```
+# 5. TUM-VI Examples
+TUM-VI had been recorder with two fisheye cameras and an inertial sensor. Ground truth is only measured in a room where each sequence starts and ends, as a result the error measures the drift at the end of the sequence.
 
-## TUM-VI Dataset(Fisheye)
 
 1. Download a sequence from https://vision.in.tum.de/data/datasets/visual-inertial-dataset and uncompress it.
 
-2. Execute the following command to execute as monocular-inertial. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.
-
-```
-./Examples/Stereo-Inertial/stereo_inertial_tum Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data PATH_TO_SEQUENCE_FOLDER/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/SEQUENCE.txt Examples/Stereo-Inertial/TUM_IMU/SEQUENCE.txt
-``` 
-
-# 6. Multiple-Session Examples
-
-There is an executable to process a set of dataset sequentially. Each dataset starts from scratch a new map. 
-
-## EuRoC Monocular
-
-1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
-
-2. Execute the following command to execute for N dataset. Change PATH_TO_SEQUENCE_FOLDER_i and SEQUENCE_i according to the sequence you want to run.
-
-
-## EuRoC Monocular-Inertial
-1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
-
-2. Execute the following command to execute for N dataset. Change PATH_TO_SEQUENCE_FOLDER_i and SEQUENCE_i according to the sequence you want to run.
-
-```
-./Examples/Monocular-Inertial/mono_inertial_euroc_2 Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER_1/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/SEQUENCE_1.txt PATH_TO_SEQUENCE_FOLDER_1/mav0/imu0/data.csv PATH_TO_SEQUENCE_FOLDER_2/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/SEQUENCE_2.txt PATH_TO_SEQUENCE_FOLDER_2/mav0/imu0/data.csv ... PATH_TO_SEQUENCE_FOLDER_N/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/SEQUENCE_N.txt PATH_TO_SEQUENCE_FOLDER_N/mav0/imu0/data.csv
-```
-
-Examples to process the whole Machine Hall. Change PATH_TO_SEQUENCE_FOLDER to the path of the sequences:
-```
-./Examples/Monocular-Inertial/mono_inertial_euroc_2 Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/MH01/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt PATH_TO_SEQUENCE_FOLDER/MH01/mav0/imu0/data.csv PATH_TO_SEQUENCE_FOLDER/MH02/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt PATH_TO_SEQUENCE_FOLDER/MH02/mav0/imu0/data.csv
-PATH_TO_SEQUENCE_FOLDER/MH03/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt PATH_TO_SEQUENCE_FOLDER/MH03/mav0/imu0/data.csv PATH_TO_SEQUENCE_FOLDER/MH04/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt PATH_TO_SEQUENCE_FOLDER/MH04/mav0/imu0/data.csv PATH_TO_SEQUENCE_FOLDER/MH05/mav0/cam0/data Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt PATH_TO_SEQUENCE_FOLDER/MH05/mav0/imu0/data.csv
-```
-
-## EuRoC Stereo
-1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
-
-2. Execute the following command to execute for N dataset. Change PATH_TO_SEQUENCE_FOLDER_i and SEQUENCE_i according to the sequence you want to run.
-
-## EuRoC Stereo-Inertial
-1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
-
-2. Execute the following command to execute for N dataset. Change PATH_TO_SEQUENCE_FOLDER_i and SEQUENCE_i according to the sequence you want to run.
-
-## TUM-VI Monocular-Inertial
-
-## TUM-VI Stereo-Inertial
-
-
-

euroc_examples.sh

@@ -0,0 +1,182 @@
+#!/bin/bash
+pathDatasetEuroc='/Datasets/EuRoC' #Example, it is necesary to change it by the dataset path
+
+#------------------------------------
+# Monocular Examples
+echo "Launching MH01 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt
+
+echo "Launching MH02 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Monocular/EuRoC_TimeStamps/MH02.txt
+
+echo "Launching MH03 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Monocular/EuRoC_TimeStamps/MH03.txt
+
+echo "Launching MH04 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Monocular/EuRoC_TimeStamps/MH04.txt
+
+echo "Launching MH05 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Monocular/EuRoC_TimeStamps/MH05.txt
+
+echo "Launching V101 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular/EuRoC_TimeStamps/V101.txt
+
+echo "Launching V102 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Monocular/EuRoC_TimeStamps/V102.txt
+
+echo "Launching V103 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Monocular/EuRoC_TimeStamps/V103.txt
+
+echo "Launching V201 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular/EuRoC_TimeStamps/V201.txt
+
+echo "Launching V202 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Monocular/EuRoC_TimeStamps/V202.txt
+
+echo "Launching V203 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Monocular/EuRoC_TimeStamps/V203.txt
+
+# MultiSession Monocular Examples
+echo "Launching Machine Hall with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Monocular/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Monocular/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Monocular/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Monocular/EuRoC_TimeStamps/MH05.txt
+
+echo "Launching Vicon Room 1 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Monocular/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Monocular/EuRoC_TimeStamps/V103.txt
+
+echo "Launching Vicon Room 2 with Monocular sensor"
+./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Monocular/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Monocular/EuRoC_TimeStamps/V203.txt
+
+#------------------------------------
+# Stereo Examples
+echo "Launching MH01 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt
+
+echo "Launching MH02 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Stereo/EuRoC_TimeStamps/MH02.txt
+
+echo "Launching MH03 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Stereo/EuRoC_TimeStamps/MH03.txt
+
+echo "Launching MH04 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt
+
+echo "Launching MH05 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Stereo/EuRoC_TimeStamps/MH05.txt
+
+echo "Launching V101 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo/EuRoC_TimeStamps/V101.txt
+
+echo "Launching V102 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Stereo/EuRoC_TimeStamps/V102.txt
+
+echo "Launching V103 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Stereo/EuRoC_TimeStamps/V103.txt
+
+echo "Launching V201 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo/EuRoC_TimeStamps/V201.txt
+
+echo "Launching V202 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Stereo/EuRoC_TimeStamps/V202.txt
+
+echo "Launching V203 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Stereo/EuRoC_TimeStamps/V203.txt
+
+# MultiSession Stereo Examples
+echo "Launching Machine Hall with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$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
+
+echo "Launching Vicon Room 1 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Stereo/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Stereo/EuRoC_TimeStamps/V103.txt
+
+echo "Launching Vicon Room 2 with Stereo sensor"
+./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Stereo/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Stereo/EuRoC_TimeStamps/V203.txt
+
+#------------------------------------
+# Monocular-Inertial Examples
+echo "Launching MH01 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt
+
+echo "Launching MH02 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt
+
+echo "Launching MH03 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt
+
+echo "Launching MH04 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt
+
+echo "Launching MH05 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt
+
+echo "Launching V101 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt
+
+echo "Launching V102 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt
+
+echo "Launching V103 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt
+
+echo "Launching V201 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt
+
+echo "Launching V202 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt
+
+echo "Launching V203 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt
+
+# MultiSession Monocular Examples
+echo "Launching Machine Hall with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt
+
+echo "Launching Vicon Room 1 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt
+
+echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
+./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$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
+
+#------------------------------------
+# Stereo-Inertial Examples
+echo "Launching MH01 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt
+
+echo "Launching MH02 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt
+
+echo "Launching MH03 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH03.txt
+
+echo "Launching MH04 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH04.txt
+
+echo "Launching MH05 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt
+
+echo "Launching V101 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V101.txt
+
+echo "Launching V102 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V102.txt
+
+echo "Launching V103 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V103.txt
+
+echo "Launching V201 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V201.txt
+
+echo "Launching V202 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V202.txt
+
+echo "Launching V203 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V203.txt
+
+# MultiSession Stereo-Inertial Examples
+echo "Launching Machine Hall with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt
+
+echo "Launching Vicon Room 1 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V103.txt
+
+echo "Launching Vicon Room 2 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/V203.txt

tum_vi_examples.sh

@@ -0,0 +1,91 @@
+#!/bin/bash
+pathDatasetTUM_VI='/Datasets/TUM_VI' #Example, it is necesary to change it by the dataset path
+
+#------------------------------------
+# Monocular Examples
+
+
+# MultiSession Monocular Examples
+
+
+#------------------------------------
+# Stereo Examples
+
+
+# MultiSession Stereo Examples
+
+
+#------------------------------------
+# Monocular-Inertial Examples
+
+
+# MultiSession Monocular Examples
+
+
+#------------------------------------
+# Stereo-Inertial Examples
+echo "Launching Corridor 1 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512
+
+echo "Launching Corridor 2 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512
+
+echo "Launching Corridor 3 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512
+
+echo "Launching Corridor 4 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512
+
+echo "Launching Corridor 5 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512
+
+
+echo "Launching Magistrale 1 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512
+
+echo "Launching Magistrale 2 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512
+
+echo "Launching Magistrale 3 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512
+
+echo "Launching Magistrale 4 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512
+
+echo "Launching Magistrale 5 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512
+
+echo "Launching Magistrale 6 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512
+
+
+echo "Launching Outdoor 1 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors1_512.txt outdoors1_512
+
+echo "Launching Outdoor 2 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors2_512.txt outdoors2_512
+
+echo "Launching Outdoor 3 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors3_512.txt outdoors3_512
+
+echo "Launching Outdoor 4 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors4_512.txt outdoors4_512
+
+echo "Launching Outdoor 5 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors5_512.txt outdoors5_512
+
+echo "Launching Outdoor 6 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors6_512.txt outdoors6_512
+
+echo "Launching Outdoor 7 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors7_512.txt outdoors7_512
+
+echo "Launching Outdoor 8 with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors8_512.txt outdoors8_512
+
+# MultiSession Stereo-Inertial Examples
+echo "Launching Room 1, Magistrale 1, MAgistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
+./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1
+
+echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
+ ./Examples/Stereo-Inertial/stereo_inertial_tum_2 Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/dataExamples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txtExamples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456