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run_ros_eth.sh
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run_ros_eth.sh
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#!/usr/bin/env bash
# Source our workspace directory to load ENV variables
SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
source ${SCRIPT_DIR}/../../../../devel/setup.bash
#=============================================================
#=============================================================
#=============================================================
# estimator configurations
modes=(
"mono"
"binocular"
"stereo"
)
# dataset locations
bagnames=(
"V1_01_easy"
"V1_02_medium"
"V1_03_difficult"
"V2_01_easy"
"V2_02_medium"
"V2_03_difficult"
"MH_01_easy"
"MH_02_easy"
"MH_03_medium"
"MH_04_difficult"
"MH_05_difficult"
)
# how far we should start into the dataset
# this can be used to skip the initial sections
bagstarttimes=(
"0"
"0"
"0"
"0"
"0"
"0"
"40"
"35"
"5"
"10"
"5" # stereo can fail if starts while still due to bad left-right KLT....
)
# location to save log files into
save_path1="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_euroc/algorithms"
save_path2="/home/patrick/github/pubs_data/pgeneva/2023_openvins_reproduce/exp_euroc/timings"
bag_path="/media/patrick/Windows/datasets/euroc_mav/"
ov_ver="2.7"
#=============================================================
#=============================================================
#=============================================================
big_start_time="$(date -u +%s)"
# Loop through all datasets
for i in "${!bagnames[@]}"; do
# Loop through all modes
for h in "${!modes[@]}"; do
# Monte Carlo runs for this dataset
# If you want more runs, change the below loop
for j in {00..00}; do
# start timing
start_time="$(date -u +%s)"
filename_est="$save_path1/ov_${ov_ver}_${modes[h]}/${bagnames[i]}/${j}_estimate.txt"
filename_time="$save_path2/ov_${ov_ver}_${modes[h]}/${bagnames[i]}/${j}_timing.txt"
# number of cameras
if [ "${modes[h]}" == "mono" ]
then
temp1="1"
temp2="true"
fi
if [ "${modes[h]}" == "binocular" ]
then
temp1="2"
temp2="false"
fi
if [ "${modes[h]}" == "stereo" ]
then
temp1="2"
temp2="true"
fi
# run our ROS launch file (note we send console output to terminator)
# subscribe=live pub, serial=read from bag (fast)
roslaunch ov_msckf serial.launch \
max_cameras:="$temp1" \
use_stereo:="$temp2" \
config:="euroc_mav" \
dataset:="${bagnames[i]}" \
bag:="$bag_path/${bagnames[i]}.bag" \
bag_start:="${bagstarttimes[i]}" \
dobag:="true" \
dosave:="true" \
path_est:="$filename_est" \
dotime:="true" \
dolivetraj:="true" \
path_time:="$filename_time" &> /dev/null
# print out the time elapsed
end_time="$(date -u +%s)"
elapsed="$(($end_time-$start_time))"
echo "BASH: ${modes[h]} - ${bagnames[i]} - run $j took $elapsed seconds";
done
done
done
# print out the time elapsed
big_end_time="$(date -u +%s)"
big_elapsed="$(($big_end_time-$big_start_time))"
echo "BASH: script took $big_elapsed seconds in total!!";