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euroc_eval_examples.bat
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euroc_eval_examples.bat
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set SLAM=x64\Release\slam.exe
set pathDatasetEuroc=YOUR_DATASET_PATH
REM Single Session Example (Pure visual)
echo "Launching MH01 with Stereo sensor"
%SLAM% stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml %pathDatasetEuroc%/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
echo "------------------------------------"
echo "Evaluation of MH01 trajectory with Stereo sensor"
python evaluation/evaluate_ate_scale.py evaluation/Ground_truth/EuRoC_left_cam/MH01_GT.txt log/f_dataset-MH01_stereo.txt --plot log/MH01_stereo.pdf
REM MultiSession Example (Pure visual)
echo "Launching Machine Hall with Stereo sensor"
%SLAM% stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml %pathDatasetEuroc%/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt %pathDatasetEuroc%/MH02 ./Examples/Stereo/EuRoC_TimeStamps/MH02.txt %pathDatasetEuroc%/MH03 ./Examples/Stereo/EuRoC_TimeStamps/MH03.txt %pathDatasetEuroc%/MH04 ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt %pathDatasetEuroc%/MH05 ./Examples/Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereo
echo "------------------------------------"
echo "Evaluation of MAchine Hall trajectory with Stereo sensor"
python evaluation/evaluate_ate_scale.py evaluation/Ground_truth/EuRoC_left_cam/MH_GT.txt log/f_dataset-MH01_to_MH05_stereo.txt --plot log/MH01_to_MH05_stereo.pdf
REM Single Session Example (Visual-Inertial)
echo "Launching V102 with Monocular-Inertial sensor"
%SLAM% mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml %pathDatasetEuroc%/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi
echo "------------------------------------"
echo "Evaluation of V102 trajectory with Monocular-Inertial sensor"
python evaluation/evaluate_ate_scale.py %pathDatasetEuroc%/V102/mav0/state_groundtruth_estimate0/data.csv log/f_dataset-V102_monoi.txt --plot log/V102_monoi.pdf
REM MultiSession Monocular Examples
echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
%SLAM% mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml %pathDatasetEuroc%/V201 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt %pathDatasetEuroc%/V202 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt %pathDatasetEuroc%/V203 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi
echo "------------------------------------"
echo "Evaluation of Vicon Room 2 trajectory with Stereo sensor"
python evaluation/evaluate_ate_scale.py evaluation/Ground_truth/EuRoC_imu/V2_GT.txt log/f_dataset-V201_to_V203_monoi.txt --plot log/V201_to_V203_monoi.pdf