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ROS2-ORB-SLAM3
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tum_vi_examples.sh

tum_vi_examples.sh 11 KB
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  1. #!/bin/bash
    2. 

  2. pathDatasetTUM_VI='/Datasets/TUM_VI' #Example, it is necesary to change it by the dataset path
    3. 

  3. 

  4. #------------------------------------
    5. 

  5. # Monocular Examples
    6. 

  6. 

  7. 

  8. # MultiSession Monocular Examples
    9. 

  9. 

  10. 

  11. #------------------------------------
    12. 

  12. # Stereo Examples
    13. 

  13. 

  14. 

  15. # MultiSession Stereo Examples
    16. 

  16. 

  17. 

  18. #------------------------------------
    19. 

  19. # Monocular-Inertial Examples
    20. 

  20. 

  21. 

  22. # MultiSession Monocular Examples
    23. 

  23. 

  24. 

  25. #------------------------------------
    26. 

  26. # Stereo-Inertial Examples
    27. 

  27. echo "Launching Corridor 1 with Stereo-Inertial sensor"
    28. 

  28. ./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
    29. 

  29. 

  30. echo "Launching Corridor 2 with Stereo-Inertial sensor"
    31. 

  31. ./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
    32. 

  32. 

  33. echo "Launching Corridor 3 with Stereo-Inertial sensor"
    34. 

  34. ./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
    35. 

  35. 

  36. echo "Launching Corridor 4 with Stereo-Inertial sensor"
    37. 

  37. ./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
    38. 

  38. 

  39. echo "Launching Corridor 5 with Stereo-Inertial sensor"
    40. 

  40. ./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
    41. 

  41. 

  42. 

  43. echo "Launching Magistrale 1 with Stereo-Inertial sensor"
    44. 

  44. ./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
    45. 

  45. 

  46. echo "Launching Magistrale 2 with Stereo-Inertial sensor"
    47. 

  47. ./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
    48. 

  48. 

  49. echo "Launching Magistrale 3 with Stereo-Inertial sensor"
    50. 

  50. ./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
    51. 

  51. 

  52. echo "Launching Magistrale 4 with Stereo-Inertial sensor"
    53. 

  53. ./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
    54. 

  54. 

  55. echo "Launching Magistrale 5 with Stereo-Inertial sensor"
    56. 

  56. ./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
    57. 

  57. 

  58. echo "Launching Magistrale 6 with Stereo-Inertial sensor"
    59. 

  59. ./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
    60. 

  60. 

  61. 

  62. echo "Launching Outdoor 1 with Stereo-Inertial sensor"
    63. 

  63. ./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
    64. 

  64. 

  65. echo "Launching Outdoor 2 with Stereo-Inertial sensor"
    66. 

  66. ./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
    67. 

  67. 

  68. echo "Launching Outdoor 3 with Stereo-Inertial sensor"
    69. 

  69. ./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
    70. 

  70. 

  71. echo "Launching Outdoor 4 with Stereo-Inertial sensor"
    72. 

  72. ./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
    73. 

  73. 

  74. echo "Launching Outdoor 5 with Stereo-Inertial sensor"
    75. 

  75. ./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
    76. 

  76. 

  77. echo "Launching Outdoor 6 with Stereo-Inertial sensor"
    78. 

  78. ./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
    79. 

  79. 

  80. echo "Launching Outdoor 7 with Stereo-Inertial sensor"
    81. 

  81. ./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
    82. 

  82. 

  83. echo "Launching Outdoor 8 with Stereo-Inertial sensor"
    84. 

  84. ./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
    85. 

  85. 

  86. # MultiSession Stereo-Inertial Examples
    87. 

  87. echo "Launching Room 1, Magistrale 1, MAgistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
    88. 

  88. ./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
    89. 

  89. 

  90. echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
    91. 

  91.  ./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
    92.