Quadrotor

#!/bin/bash

DIR=`readlink -f $1`

if  test ! -d "$DIR"; then  

  echo "'$DIR' is not a directory" 

  echo "Usage: $0 <directory-where-results-are>"

  echo "e.g., $0 some/path/to/SURF/"

  exit

fi

pushd $DIR > /dev/null

for num in 1 2; do 

  rm -f eval_translational.txt eval_rotational.txt eval_runtime.txt 

  for BASENAME in `ls -d rgbd_dataset_freiburg1*`; do

    echo $BASENAME

    if test ! -d $BASENAME;then

      echo "Not ready yet"

      break;

    fi

    ESTIMATE_FILE=$BASENAME/${BASENAME}.bagafter${num}_optimization_estimate.txt

    if test ! -f $ESTIMATE_FILE;then

      echo "No estimate at level " $num 

      continue;

    fi

    EVAL_FILE=$ESTIMATE_FILE.evaluation

    if rosrun rgbd_benchmark_tools evaluate_rpe.py --verbose $BASENAME/${BASENAME}-groundtruth.txt $ESTIMATE_FILE > $EVAL_FILE; then

      rosrun rgbd_benchmark_tools evaluate_ate.py --plot $BASENAME/$BASENAME.difference_plot$num.png --verbose $BASENAME/${BASENAME}-groundtruth.txt $ESTIMATE_FILE > $EVAL_FILE.ate; then

      #rosrun rgbd_benchmark_tools align_and_plot.py --plot $BASENAME/$BASENAME.alignment_plot$num.png --verbose $BASENAME/${BASENAME}-groundtruth.txt $ESTIMATE_FILE > /dev/null

      #RMSE

      echo -n "FR${BASENAME#rgbd_dataset_freiburg}; " >> eval_translational.txt

      echo -n "FR${BASENAME#rgbd_dataset_freiburg}; " >> eval_rotational.txt

      grep translational_error.rmse $EVAL_FILE |sed "s#$DIR##g" | sed 's/ /; /g' >> eval_translational.txt

      grep rotational_error.rmse $EVAL_FILE |sed "s#$DIR##g" | sed 's/ /; /g' >> eval_rotational.txt

      #OVERALL RUNTIME

      STARTTIME=`grep -B1 createXYZ $BASENAME/logfile |head -n1|grep -o '13[0-9]*\.'` #timestamp first relevant action

      ENDTIME=`grep "Finished process" $BASENAME/logfile |grep -o '13[0-9]*\.'` #timestamp first relevant action

      STARTTIME_NSEC=`grep -B1 createXYZ $BASENAME/logfile |head -n1|grep -o '\.[0-9]*'` #timestamp first relevant action

      ENDTIME_NSEC=`grep "Finished with $num" $BASENAME/logfile |grep -o '\.[0-9]*'` #timestamp first relevant action

      echo -n "Start; ${STARTTIME%.}.${STARTTIME_NSEC#.};s; End; ${ENDTIME%.}.${ENDTIME_NSEC#.};s;" >> eval_runtime.txt

      #OPTIMIZER RUNTIME

      OPT_TIME=`grep -B1 "Finished with $num" $BASENAME/logfile |head -n1|grep -o '[0-9.]* s'` #timestamp first relevant action

      echo -n "Optimizer Time; ${OPT_TIME% s};s;" >> eval_runtime.txt

      #NUMBER OF NODES

      NODE_NUM=`grep -B4 "Finished with $num" $BASENAME/logfile |head -n1|grep -o '[0-9]* nodes'` #timestamp first relevant action

      EDGE_NUM=`grep -B4 "Finished with $num" $BASENAME/logfile |head -n1|grep -o '[0-9]* edges'` #timestamp first relevant action

      echo -n "Number of Nodes/Edges; ${NODE_NUM% nodes};${EDGE_NUM% edges};" >> eval_runtime.txt

      echo >> eval_runtime.txt

      paste "-d;" eval_rotational.txt eval_translational.txt eval_runtime.txt |sed "s#$DIR/##g" | sed 's/rgbd_dataset_freiburg/FR/g' |sed 's/.evaluation//g' |sed 's/.bagafter._optimization_estimate.txt//g'|sed 's/.bag//g'|sed 's/flowerbouquet/flwrbqt/g' |sed 's/background/bg/g'|sed 's#/FR[^/]*/##g'|sed 's/_/ /g' > evaluation_$num.csv

    else

      echo "Evaluation Failed"

    fi

  done

  echo Results stored in $DIR/evaluation_$num.csv

done

rm -f eval_translational.txt eval_rotational.txt eval_runtime.txt 

popd > /dev/null