run_ros_eth.sh

#!/usr/bin/env bash

# Source our workspace directory to load ENV variables
source /home/patrick/workspace/catkin_ws_ov/devel/setup.bash


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# estimator configurations
modes=(
    "mono"
    "binocular"
    "stereo"
)

# dataset locations
bagnames=(
    "V1_01_easy"
    "V1_02_medium"
    "V1_03_difficult"
    "V2_01_easy"
    "V2_02_medium"
    "V2_03_difficult"
    "MH_01_easy"
    "MH_02_easy"
    "MH_03_medium"
    "MH_04_difficult"
    "MH_05_difficult"
)

# how far we should start into the dataset
# this can be used to skip the initial sections
bagstarttimes=(
    "0"
    "0"
    "0"
    "0"
    "0"
    "0"
    "40"
    "35"
    "15"
    "20"
    "20"
)

# threshold for variance to detect if the unit has moved yet
imuthreshold=(
    "1.5"
    "1.5"
    "1.5"
    "1.5"
    "1.5"
    "1.5"
    "1.5"
    "1.5"
    "1.5"
    "1.5"
)

# location to save log files into
save_path1="/home/patrick/github/pubs_data/pgeneva/2020_openvins/exp_testing/algorithms"
bag_path="/media/patrick/RPNG\ FLASH\ 2/euroc"


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# Loop through all modes
for h in "${!modes[@]}"; do
# Loop through all datasets
for i in "${!bagnames[@]}"; do

# Monte Carlo runs for this dataset
# If you want more runs, change the below loop
for j in {00..01}; do

# start timing
start_time="$(date -u +%s)"
filename_est="$save_path1/ov_${modes[h]}/${bagnames[i]}/${start_time}_estimate.txt"

# number of cameras
if [ "${modes[h]}" == "mono" ]
then
    temp1="1"
    temp2="true"
fi
if [ "${modes[h]}" == "binocular" ]
then
    temp1="2"
    temp2="false"
fi
if [ "${modes[h]}" == "stereo" ]
then
    temp1="2"
    temp2="true"
fi

# run our ROS launch file (note we send console output to terminator)
roslaunch ov_msckf pgeneva_ros_eth.launch max_cameras:="$temp1" use_stereo:="$temp2" bag:="$bag_path/${bagnames[i]}.bag" bag_start:="${bagstarttimes[i]}" init_imu_thresh:="${imuthreshold[i]}" dosave:="true" path_est:="$filename_est" #&> /dev/null

# print out the time elapsed
end_time="$(date -u +%s)"
elapsed="$(($end_time-$start_time))"
echo "BASH: ${modes[h]} - ${bagnames[i]} - run $j took $elapsed seconds";

done


done
done