Quadrotor

#!/bin/bash

echo $1 $2

if [[ "$1" == "" ]] || test  '!' -d "$2" ; then

  echo "Usage: $0 <feature-type> <directory-where-bagfiles-and-groundtruth-files-are>"

  echo "E.g.: $0 SURF ~/ros/rgbdslam/rgbd_benchmark/benchmark_data/"

  exit

fi

pushd `readlink -f $2` > /dev/null

export ROS_MASTER_URI=http://localhost:11381

roscore -p 11381&

sleep 1

#export DISPLAY=localhost:0.0

#This is for naming. Switching between SIFTGPU and (SURF, ORB) requires recompilation with adaption of CMakeLists.txt, line 6

rosparam set /rgbdslam/config/feature_detector_type $1

rosparam set /rgbdslam/config/feature_extractor_type $1

for bagfile in rgbd_dataset_freiburg1_*.bag ; do

  BASE_NAME=`basename $bagfile .bag` 

  DIRECTORY=$1/$BASE_NAME

  mkdir -p $DIRECTORY

  if grep -q Coordinate $DIRECTORY/*estimate.txt 2> /dev/null; then 

    echo There are already results for $BASE_NAME in $DIRECTORY. Will skip this bagfile

    continue #don't overwrite existing results

  fi

  echo Results for $BASE_NAME are stored in `readlink -f $DIRECTORY`

  rosparam set /rgbdslam/config/bagfile_name `readlink -f $bagfile`

  roslaunch rgbdslam settings_for_evaluation.launch >  $DIRECTORY/logfile 2>&1

  rosparam get /rgbdslam/config >>  $DIRECTORY/logfile 2>&1

  echo Finished processing $BASE_NAME

  #Move Result files, run evaluation routine

  mv ${bagfile}?* $DIRECTORY/

  cp ${BASE_NAME}-groundtruth.txt $DIRECTORY/

  #cp `readlink -f $0` $DIRECTORY/`basename $0`

done

popd > /dev/null