root / rgbdslam / rgbd_benchmark / benchmark_evaluation.sh @ 9240aaa3
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#!/bin/bash |
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|
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echo $1 $2 |
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if [[ "$1" == "" ]] || test '!' -d "$2" ; then |
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echo "Usage: $0 <feature-type> <directory-where-bagfiles-and-groundtruth-files-are>" |
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echo "E.g.: $0 SURF ~/ros/rgbdslam/rgbd_benchmark/benchmark_data/" |
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exit |
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fi |
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pushd `readlink -f $2` > /dev/null |
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|
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export ROS_MASTER_URI=http://localhost:11381 |
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roscore -p 11381& |
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sleep 1 |
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#export DISPLAY=localhost:0.0 |
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#This is for naming. Switching between SIFTGPU and (SURF, ORB) requires recompilation with adaption of CMakeLists.txt, line 6 |
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|
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rosparam set /rgbdslam/config/feature_detector_type $1 |
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rosparam set /rgbdslam/config/feature_extractor_type $1 |
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for bagfile in rgbd_dataset_freiburg1_*.bag ; do |
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BASE_NAME=`basename $bagfile .bag` |
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DIRECTORY=$1/$BASE_NAME |
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mkdir -p $DIRECTORY |
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if grep -q Coordinate $DIRECTORY/*estimate.txt 2> /dev/null; then |
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echo There are already results for $BASE_NAME in $DIRECTORY. Will skip this bagfile |
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continue #don't overwrite existing results |
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fi |
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echo Results for $BASE_NAME are stored in `readlink -f $DIRECTORY` |
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rosparam set /rgbdslam/config/bagfile_name `readlink -f $bagfile` |
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roslaunch rgbdslam settings_for_evaluation.launch > $DIRECTORY/logfile 2>&1 |
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rosparam get /rgbdslam/config >> $DIRECTORY/logfile 2>&1 |
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echo Finished processing $BASE_NAME |
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|
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#Move Result files, run evaluation routine |
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mv ${bagfile}?* $DIRECTORY/ |
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cp ${BASE_NAME}-groundtruth.txt $DIRECTORY/ |
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#cp `readlink -f $0` $DIRECTORY/`basename $0` |
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done |
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popd > /dev/null |