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ROS2-ORB-SLAM3
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euroc_eval_examples.sh

euroc_eval_examples.sh 2.7 KB
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  1. #!/bin/bash
    2. 

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

  3. 

  4. # Single Session Example (Pure visual)
    5. 

  5. echo "Launching MH01 with Stereo sensor"
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  6. ./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
    7. 

  7. echo "------------------------------------"
    8. 

  8. echo "Evaluation of MH01 trajectory with Stereo sensor"
    9. 

  9. 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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  10. 

  11. 

  12. 

  13. # MultiSession Example (Pure visual)
    14. 

  14. echo "Launching Machine Hall with Stereo sensor"
    15. 

  15. ./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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  16. echo "------------------------------------"
    17. 

  17. echo "Evaluation of MAchine Hall trajectory with Stereo sensor"
    18. 

  18. 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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  19. 

  20. 

  21. # Single Session Example (Visual-Inertial)
    22. 

  22. echo "Launching V102 with Monocular-Inertial sensor"
    23. 

  23. ./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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  24. echo "------------------------------------"
    25. 

  25. echo "Evaluation of V102 trajectory with Monocular-Inertial sensor"
    26. 

  26. 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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  27. 

  28. 

  29. # MultiSession Monocular Examples
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  30. 

  31. echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
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  32. ./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
    33. 

  33. echo "------------------------------------"
    34. 

  34. echo "Evaluation of Vicon Room 2 trajectory with Stereo sensor"
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  35. 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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