X-lanni
157 lines
4.7 KiB
Bash
Executable File
157 lines
4.7 KiB
Bash
Executable File
#!/bin/bash
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PWD=$(pwd)
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DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
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DATASET_ROOT_PATH='./datasets/euroc'
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EUROC_RESULTS_PATH='./results/euroc'
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mkdir -p $EUROC_RESULTS_PATH
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if [ $DOCKER -eq 1 ]
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then
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DATASET_ROOT_PATH='/root/datasets/euroc'
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EUROC_RESULTS_PATH='/root/results/euroc'
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fi
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LIST=( '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')
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STRATEGY=0
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OUTPUT="test"
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DISP=0
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if [ $# -eq 4 ]
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then
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OUTPUT=$1
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STRATEGY=$2
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DISP=$3
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LIST=($4)
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elif [ $# -eq 3 ]
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then
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OUTPUT=$1
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STRATEGY=$2
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DISP=$3
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else
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echo "Usage: run_euroc_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 6=okvis(rect) 66=okvis(raw) 8=msckf_vio(rect) 88=msckf_vio(raw) 9=vins_vio(rect) 99=vins_vio(raw) 10=vins_stereo(rect) 100=vins_stereo(raw)\" \"Disparity: 0 or 1\" [sequence]"
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exit
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fi
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#uncomment for graph gravity optimization
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#F2F_params="--Optimizer/GravitySigma 0.01 --g2o/PixelVariance 5"
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if [ $STRATEGY -eq 11 ] # F2F optical flow
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then
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STRATEGY=1
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F2F_params="--Vis/CorType 1 --Vis/MinInliers 20 --RGBD/OptimizeMaxError 0"
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fi
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if [ $STRATEGY -eq 1 ] # F2F
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then
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F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
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fi
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if [ $DISP -eq 1 ]
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then
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F2F_params="--disp --StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 $F2F_params"
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else
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F2F_params="--exposure_comp $F2F_params"
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fi
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if [ $STRATEGY -eq 66 ] # okvis raw images
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then
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STRATEGY=6
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F2F_params="--raw --Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
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fi
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if [ $STRATEGY -eq 6 ] # okvis
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then
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F2F_params="--Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
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fi
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if [ $STRATEGY -eq 88 ] # msckf_vio raw images
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then
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STRATEGY=8
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F2F_params="--raw --Odom/GuessMotion false $F2F_params"
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fi
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if [ $STRATEGY -eq 8 ] # msckf_vio
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then
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F2F_params="--Odom/GuessMotion false $F2F_params"
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fi
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if [ $STRATEGY -eq 99 ] # vins raw images
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then
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STRATEGY=9
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F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
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fi
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if [ $STRATEGY -eq 9 ] # vins
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then
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F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
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fi
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if [ $STRATEGY -eq 100 ] # vins (stereo-only) raw images
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then
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STRATEGY=9
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F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
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fi
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if [ $STRATEGY -eq 10 ] # vins (stereo-only)
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then
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F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
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fi
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RTABMAP_EUROC_TOOL="rtabmap-euroc_dataset"
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if [ $DOCKER -eq 1 ]
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then
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# Select rtabmap built with os2 support or not
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TOOL_PREFIX="/usr/local/bin"
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if [ $STRATEGY -eq 5 ]
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then
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TOOL_PREFIX="/root/rtabmap_os2/bin"
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elif [ $STRATEGY -eq 8 ]
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then
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TOOL_PREFIX="/root/rtabmap_msckf/bin"
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fi
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RTABMAP_EUROC_TOOL="docker run -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
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if [ $STRATEGY -eq 6 ]
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then
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xhost +
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RTABMAP_EUROC_TOOL="docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
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fi
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fi
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echo $RTABMAP_EUROC_TOOL
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for d in "${LIST[@]}"
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do
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V203_params=""
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if [ "$d" == "V2_03_difficult" ]
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then
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if [[ $STRATEGY -eq 0 || $STRATEGY -eq 1 ]]
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then
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V203_params="--Vis/MinInliers 10 --Vis/PnPReprojError 3"
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fi
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fi
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taskset 0x1 $RTABMAP_EUROC_TOOL \
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--Rtabmap/PublishRAMUsage true\
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--RGBD/LinearUpdate 0\
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--RGBD/AngularUpdate 0\
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--RGBD/ProximityBySpace false\
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--Rtabmap/DetectionRate 2\
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--Kp/FlannRebalancingFactor 1.0\
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--GFTT/MinDistance 3\
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--Odom/Strategy $STRATEGY\
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--Mem/STMSize 30\
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--Mem/UseOdomFeatures false \
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--Mem/BinDataKept false \
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--Rtabmap/CreateIntermediateNodes false\
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--Vis/CorNNDR 0.6 \
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--Vis/CorGuessWinSize 20 \
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$V203_params\
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$F2F_params\
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--OdomORBSLAM2/VocPath /root/ORBvoc.txt\
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--OdomORBSLAM2/ThDepth 35\
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--OdomORBSLAM2/MaxFeatures 1200\
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--output "$EUROC_RESULTS_PATH/$d"\
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--output_name $OUTPUT\
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--quiet\
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$DATASET_ROOT_PATH/$d
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done
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# For V2_03_difficult: --Vis/MinInliers 10 --disp StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 --Vis/PnPReprojError 3
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