forked from rexdsp/ORB_SLAM3_Windows
-
Notifications
You must be signed in to change notification settings - Fork 0
/
tum_vi_examples.bat
240 lines (156 loc) · 33.4 KB
/
tum_vi_examples.bat
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
set SLAM=x64\Release\slam.exe
set pathDatasetTUM_VI=YOUR_DATASET_PATH
REM ------------------------------------
REM Monocular Examples
echo "Launching Room 1 with Monocular sensor"
%SLAM% mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_mono > log/log101_tum_vi_mono_Room_1.txt
echo "Launching Room 2 with Monocular sensor"
%SLAM% mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room2_512.txt dataset-room2_512_mono > log/log102_tum_vi_mono_Room_2.txt
echo "Launching Room 3 with Monocular sensor"
%SLAM% mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room3_512.txt dataset-room3_512_mono > log/log103_tum_vi_mono_Room_3.txt
echo "Launching Room 4 with Monocular sensor"
%SLAM% mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room4_512.txt dataset-room4_512_mono > log/log104_tum_vi_mono_Room_4.txt
echo "Launching Room 5 with Monocular sensor"
%SLAM% mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room5_512.txt dataset-room5_512_mono > log/log105_tum_vi_mono_Room_5.txt
echo "Launching Room 6 with Monocular sensor"
%SLAM% mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room6_512.txt dataset-room6_512_mono > log/log106_tum_vi_mono_Room_6.txt
REM ------------------------------------
REM Stereo Examples
echo "Launching Room 1 with Stereo sensor"
%SLAM% stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_stereo > log/log107_tum_vi_stereo_Room_1.txt
echo "Launching Room 2 with Stereo sensor"
%SLAM% stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room2_512.txt dataset-room2_512_stereo > log/log108_tum_vi_stereo_Room_2.txt
echo "Launching Room 3 with Stereo sensor"
%SLAM% stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room3_512.txt dataset-room3_512_stereo > log/log109_tum_vi_stereo_Room_3.txt
echo "Launching Room 4 with Stereo sensor"
%SLAM% stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room4_512.txt dataset-room4_512_stereo > log/log110_tum_vi_stereo_Room_4.txt
echo "Launching Room 5 with Stereo sensor"
%SLAM% stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room5_512.txt dataset-room5_512_stereo > log/log111_tum_vi_stereo_Room_5.txt
echo "Launching Room 6 with Stereo sensor"
%SLAM% stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room6_512.txt dataset-room6_512_stereo > log/log112_tum_vi_stereo_Room_6.txt
REM ------------------------------------
REM Monocular-Inertial Examples
echo "Launching Corridor 1 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512_monoi > log/log113_tum_vi_mono_inertial_Corridor_1.txt
echo "Launching Corridor 2 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512_monoi > log/log114_tum_vi_mono_inertial_Corridor_2.txt
echo "Launching Corridor 3 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512_monoi > log/log115_tum_vi_mono_inertial_Corridor_3.txt
echo "Launching Corridor 4 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512_monoi > log/log116_tum_vi_mono_inertial_Corridor_4.txt
echo "Launching Corridor 5 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512_monoi > log/log117_tum_vi_mono_inertial_Corridor_5.txt
echo "Launching Magistrale 1 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512_monoi > log/log118_tum_vi_mono_inertial_Magistrale_1.txt
echo "Launching Magistrale 2 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512_monoi > log/log119_tum_vi_mono_inertial_Magistrale_2.txt
echo "Launching Magistrale 3 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512_monoi > log/log120_tum_vi_mono_inertial_Magistrale_3.txt
echo "Launching Magistrale 4 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512_monoi > log/log121_tum_vi_mono_inertial_Magistrale_4.txt
echo "Launching Magistrale 5 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512_monoi > log/log122_tum_vi_mono_inertial_Magistrale_5.txt
echo "Launching Magistrale 6 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512_monoi > log/log123_tum_vi_mono_inertial_Magistrale_6.txt
echo "Launching Outdoor 1 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors1_512.txt dataset-outdoors1_512_monoi > log/log124_tum_vi_mono_inertial_Outdoor_1.txt
echo "Launching Outdoor 2 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors2_512.txt dataset-outdoors2_512_monoi > log/log125_tum_vi_mono_inertial_Outdoor_2.txt
echo "Launching Outdoor 3 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors3_512.txt dataset-outdoors3_512_monoi > log/log126_tum_vi_mono_inertial_Outdoor_3.txt
echo "Launching Outdoor 4 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors4_512.txt dataset-outdoors4_512_monoi > log/log127_tum_vi_mono_inertial_Outdoor_4.txt
echo "Launching Outdoor 5 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors5_512.txt dataset-outdoors5_512_monoi > log/log128_tum_vi_mono_inertial_Outdoor_5.txt
echo "Launching Outdoor 6 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors6_512.txt dataset-outdoors6_512_monoi > log/log129_tum_vi_mono_inertial_Outdoor_6.txt
echo "Launching Outdoor 7 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors7_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors7_512.txt dataset-outdoors7_512_monoi > log/log130_tum_vi_mono_inertial_Outdoor_7.txt
echo "Launching Outdoor 8 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml %pathDatasetTUM_VI%/dataset-outdoors8_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors8_512.txt dataset-outdoors8_512_monoi > log/log131_tum_vi_mono_inertial_Outdoor_8.txt
echo "Launching Room 1 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_monoi > log/log132_tum_vi_mono_inertial_Room_1.txt
echo "Launching Room 2 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room2_512.txt dataset-room2_512_monoi > log/log133_tum_vi_mono_inertial_Room_2.txt
echo "Launching Room 3 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room3_512.txt dataset-room3_512_monoi > log/log134_tum_vi_mono_inertial_Room_3.txt
echo "Launching Room 4 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_monoi > log/log135_tum_vi_mono_inertial_Room_4.txt
echo "Launching Room 5 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room5_512.txt dataset-room5_512_monoi > log/log136_tum_vi_mono_inertial_Room_5.txt
echo "Launching Room 6 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room6_512.txt dataset-room6_512_monoi > log/log137_tum_vi_mono_inertial_Room_6.txt
echo "Launching Slides 1 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-slides1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-slides1_512_monoi > log/log138_tum_vi_mono_inertial_Slides_1.txt
echo "Launching Slides 2 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-slides2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides2_512.txt dataset-slides2_512_monoi > log/log139_tum_vi_mono_inertial_Slides_2.txt
echo "Launching Slides 3 with Monocular-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-slides3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides3_512.txt dataset-slides3_512_monoi > log/log140_tum_vi_mono_inertial_Slides_3.txt
REM MultiSession Monocular Examples
echo "Launching Room 1, Magistrale 1, Magistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt %pathDatasetTUM_VI%/dataset-magistrale1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt %pathDatasetTUM_VI%/dataset-magistrale5_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt %pathDatasetTUM_VI%/dataset-slides1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1_monoi > log/log141_tum_vi_mono_MultiSession_1.txt
echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
%SLAM% mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456_monoi > log/log142_tum_vi_mono_MultiSession_2.txt
REM ------------------------------------
REM Stereo-Inertial Examples
echo "Launching Corridor 1 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-corridor1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512_stereoi > log/log143_tum_vi_stereo_inertial_Corridor_1.txt
echo "Launching Corridor 2 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor2_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-corridor2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512_stereoi > log/log144_tum_vi_stereo_inertial_Corridor_2.txt
echo "Launching Corridor 3 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor3_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-corridor3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512_stereoi > log/log145_tum_vi_stereo_inertial_Corridor_3.txt
echo "Launching Corridor 4 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor4_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-corridor4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512_stereoi > log/log146_tum_vi_stereo_inertial_Corridor_4.txt
echo "Launching Corridor 5 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-corridor5_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-corridor5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512_stereoi > log/log147_tum_vi_stereo_inertial_Corridor_5.txt
echo "Launching Magistrale 1 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512_stereoi > log/log148_tum_vi_stereo_inertial_Magistrale_1.txt
echo "Launching Magistrale 2 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale2_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512_stereoi > log/log149_tum_vi_stereo_inertial_Magistrale_2.txt
echo "Launching Magistrale 3 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale3_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512_stereoi > log/log150_tum_vi_stereo_inertial_Magistrale_3.txt
echo "Launching Magistrale 4 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale4_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512_stereoi > log/log151_tum_vi_stereo_inertial_Magistrale_4.txt
echo "Launching Magistrale 5 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale5_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512_stereoi > log/log152_tum_vi_stereo_inertial_Magistrale_5.txt
echo "Launching Magistrale 6 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-magistrale6_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512_stereoi > log/log153_tum_vi_stereo_inertial_Magistrale_6.txt
echo "Launching Outdoor 1 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors1_512.txt outdoors1_512_stereoi > log/log154_tum_vi_stereo_inertial_Outdoor_1.txt
echo "Launching Outdoor 2 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors2_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors2_512.txt outdoors2_512_stereoi > log/log155_tum_vi_stereo_inertial_Outdoor_2.txt
echo "Launching Outdoor 3 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors3_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors3_512.txt outdoors3_512_stereoi > log/log156_tum_vi_stereo_inertial_Outdoor_3.txt
echo "Launching Outdoor 4 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors4_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors4_512.txt outdoors4_512_stereoi > log/log157_tum_vi_stereo_inertial_Outdoor_4.txt
echo "Launching Outdoor 5 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors5_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors5_512.txt outdoors5_512_stereoi > log/log158_tum_vi_stereo_inertial_Outdoor_5.txt
echo "Launching Outdoor 6 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors6_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors6_512.txt outdoors6_512_stereoi > log/log159_tum_vi_stereo_inertial_Outdoor_6.txt
echo "Launching Outdoor 7 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors7_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors7_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors7_512.txt outdoors7_512_stereoi > log/log160_tum_vi_stereo_inertial_Outdoor_7.txt
echo "Launching Outdoor 8 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml %pathDatasetTUM_VI%/dataset-outdoors8_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-outdoors8_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors8_512.txt outdoors8_512_stereoi > log/log161_tum_vi_stereo_inertial_Outdoor_8.txt
echo "Launching Room 1 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_stereoi > log/log162_tum_vi_stereo_inertial_Room_1.txt
echo "Launching Room 2 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt dataset-room2_512_stereoi > log/log163_tum_vi_stereo_inertial_Room_2.txt
echo "Launching Room 3 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt dataset-room3_512_stereoi > log/log164_tum_vi_stereo_inertial_Room_3.txt
echo "Launching Room 4 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_stereoi > log/log165_tum_vi_stereo_inertial_Room_4.txt
echo "Launching Room 5 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt dataset-room5_512_stereoi > log/log166_tum_vi_stereo_inertial_Room_5.txt
echo "Launching Room 6 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-room6_512_stereoi > log/log167_tum_vi_stereo_inertial_Room_6.txt
echo "Launching Slides 1 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-slides1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-slides1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-slides1_512_stereoi > log/log168_tum_vi_stereo_inertial_Slides_1.txt
echo "Launching Slides 2 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-slides2_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-slides2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides2_512.txt dataset-slides2_512_stereoi > log/log169_tum_vi_stereo_inertial_Slides_2.txt
echo "Launching Slides 3 with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-slides3_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-slides3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides3_512.txt dataset-slides3_512_stereoi > log/log170_tum_vi_stereo_inertial_Slides_3.txt
REM MultiSession Stereo-Inertial Examples
echo "Launching Room 1, Magistrale 1, Magistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt %pathDatasetTUM_VI%/dataset-magistrale1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt %pathDatasetTUM_VI%/dataset-magistrale5_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt %pathDatasetTUM_VI%/dataset-slides1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-slides1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1_stereoi > log/log171_tum_vi_stereo_inertial_MultiSession_1.txt
echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
%SLAM% stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam0/data %pathDatasetTUM_VI%/dataset-room6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456_stereoi > log/log172_tum_vi_stereo_inertial_MultiSession_2.txt