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run_map_alignment_tests.sh
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run_alignment_sc_geo()
{
~/catkin_ws/devel/lib/vlma/vlma_main --map1_config_file $1 --map2_config_file $2 --offset_map2=true
}
run_alignment_sc()
{
~/catkin_ws/devel/lib/vlma/vlma_main --map1_config_file $1 --map2_config_file $2 --phi 0.0 --offset_map2=true
}
run_alignment_geo()
{
~/catkin_ws/devel/lib/vlma/vlma_main --map1_config_file $1 --map2_config_file $2 --psi 1000.0 --offset_map2=true
}
run_alignment_none()
{
~/catkin_ws/devel/lib/vlma/vlma_main --map1_config_file $1 --map2_config_file $2 --psi 1000.0 --phi 0.0 --offset_map2=true
}
run_alignment_vma()
{
~/catkin_ws/devel/lib/vlma/vlma_main --map1_config_file $1 --map2_config_file $2 --filter_path_outliers=false --psi 1000.0 --phi 0.5 --offset_map2=true --use_lpr=false --use_sac=false --use_nonrigid=false
}
run_alignment_lma()
{
~/catkin_ws/devel/lib/vlma/vlma_main --map1_config_file $1 --map2_config_file $2 --psi 0.4 --filter_path_outliers=false --offset_map2=true --use_lpr=true --use_sac=false --use_nonrigid=false
}
run_alignment_rigid()
{
~/catkin_ws/devel/lib/vlma/vlma_main --map1_config_file $1 --map2_config_file $2 --offset_map2=true --use_nonrigid=false --filter_path_outliers=false
}
# SL1='/home/jake/projects/beam_robotics/mapping/vlma/config/StructuresLab/map1.json'
SL1='/home/jake/projects/beam_robotics/mapping/vlma/config/StructuresLab/map2.json'
SL2='/home/jake/projects/beam_robotics/mapping/vlma/config/StructuresLab/map3.json' # align to this one
SL3='/home/jake/projects/beam_robotics/mapping/vlma/config/StructuresLab/map4.json'
# SL5='/home/jake/projects/beam_robotics/mapping/vlma/config/StructuresLab/map5.json'
# CB1='/home/jake/projects/beam_robotics/mapping/vlma/config/ConestogoBridge/map1.json'
CB1='/home/jake/projects/beam_robotics/mapping/vlma/config/ConestogoBridge/map2.json' # align to this one
CB2='/home/jake/projects/beam_robotics/mapping/vlma/config/ConestogoBridge/map3.json'
CB3='/home/jake/projects/beam_robotics/mapping/vlma/config/ConestogoBridge/map4.json'
# run_alignment_rigid $SL2 $SL1 >> /home/jake/results/vlma/SL2SL1_rigid.txt
# run_alignment_rigid $SL2 $SL3 >> /home/jake/results/vlma/SL2SL3_rigid.txt
# run_alignment_rigid $CB1 $CB2 >> /home/jake/results/vlma/CB1CB2_rigid.txt
run_alignment_sc_geo $CB1 $CB3 >> /home/jake/results/vlma/CB1CB3.txt
# run_alignment_vma $SL2 $SL1 >> /home/jake/results/vlma/SL2SL1_vma.txt
# run_alignment_vma $SL2 $SL3 >> /home/jake/results/vlma/SL2SL3_vma.txt
# run_alignment_lma $SL2 $SL1 >> /home/jake/results/vlma/SL2SL1_lma.txt
# run_alignment_lma $SL2 $SL3 >> /home/jake/results/vlma/SL2SL3_lma.txt
# run_alignment_vma $CB1 $CB2 >> /home/jake/results/vlma/CB1CB2_vma.txt
# run_alignment_vma $CB1 $CB3 >> /home/jake/results/vlma/CB1CB3_vma.txt
# run_alignment_lma $CB1 $CB2 >> /home/jake/results/vlma/CB1CB2_lma.txt
# run_alignment_lma $CB1 $CB3 >> /home/jake/results/vlma/CB1CB3_lma.txt
# echo "Running SC+Geo experiments: "
# echo "$SL2 and $SL3"
# run_alignment_sc_geo $SL2 $SL3 >> /home/jake/results/vlma/SL2SL3_scgeo.txt
# echo "$SL2 and $SL1"
# run_alignment_sc_geo $SL2 $SL1 >> /home/jake/results/vlma/SL2SL1_scgeo.txt
# echo "Running Geo experiments: "
# echo "$SL2 and $SL3"
# run_alignment_geo $SL2 $SL3 >> /home/jake/results/vlma/SL2SL3_geo.txt
# echo "$SL2 and $SL1"
# run_alignment_geo $SL2 $SL1 >> /home/jake/results/vlma/SL2SL1_geo.txt
# echo "Running SC experiments: "
# echo "$SL2 and $SL3"
# run_alignment_sc $SL2 $SL3 >> /home/jake/results/vlma/SL2SL3_sc.txt
# echo "$SL2 and $SL1"
# run_alignment_sc $SL2 $SL1 >> /home/jake/results/vlma/SL2SL1_sc.txt
# echo "Running None experiments: "
# echo "$SL2 and $SL3"
# run_alignment_none $SL2 $SL3 >> /home/jake/results/vlma/SL2SL3_none.txt
# echo "$SL2 and $SL1"
# run_alignment_none $SL2 $SL1 >> /home/jake/results/vlma/SL2SL1_none.txt
# echo "Running SC+Geo experiments : "
# echo "$CB1 and $CB2"
# run_alignment_sc_geo $CB1 $CB2 >> /home/jake/results/vlma/CB1CB2_scgeo.txt
# echo "$CB1 and $CB3"
# run_alignment_sc_geo $CB1 $CB3 >> /home/jake/results/vlma/CB1CB3_scgeo.txt
# echo "Running Geo experiments : "
# echo "$CB1 and $CB2"
# run_alignment_geo $CB1 $CB2>> /home/jake/results/vlma/CB1CB2_geo.txt
# echo "$CB1 and $CB3"
# run_alignment_geo $CB1 $CB3 >> /home/jake/results/vlma/CB1CB3_geo.txt
# echo "Running SC experiments : "
# echo "$CB1 and $CB2"
# run_alignment_sc $CB1 $CB2 >> /home/jake/results/vlma/CB1CB2_sc.txt
# echo "$CB1 and $CB3"
# run_alignment_sc $CB1 $CB3 >> /home/jake/results/vlma/CB1CB3_sc.txt
# echo "Running None experiments "
# echo "$CB1 and $CB2"
# run_alignment_none $CB1 $CB2 >> /home/jake/results/vlma/CB1CB2_none.txt
# echo "$CB1 and $CB3"
# run_alignment_none $CB1 $CB3 >> /home/jake/results/vlma/CB1CB3_none.txt