#!/bin/bash
pathDataset='/media/llm/Datasets/EuRoC/' # it is necesary to change it by the dataset path
pathEvaluation='./evaluation/Euroc/'


#------------------------------------
echo "Launching MH01 with Monocular sensor"
sequenceName='MH01'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching MH02 with Monocular sensor"
sequenceName='MH02'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching MH03 with Monocular sensor"
sequenceName='MH03'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching MH04 with Monocular sensor"
sequenceName='MH04'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching MH05 with Monocular sensor"
sequenceName='MH05'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching V101 with Monocular sensor"
sequenceName='V101'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching V102 with Monocular sensor"
sequenceName='V102'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching V103 with Monocular sensor"
sequenceName='V103'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching V201 with Monocular sensor"
sequenceName='V201'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching V202 with Monocular sensor"
sequenceName='V202'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/

echo "Launching V203 with Monocular sensor"
sequenceName='V203'
./Examples/Monocular/mono_euroc ./Examples/Monocular/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO/ "$pathDataset"/"$sequenceName" ./Examples/Monocular/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py ./evaluation/Ground_truth/EuRoC_left_cam/"$sequenceName"_GT.txt "$pathEvaluation"/"$sequenceName"_MONO/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO/


#------------------------------------
echo "Launching MH01 with Monocular-Inertial sensor"
sequenceName='MH01'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching MH02 with Monocular-Inertial sensor"
sequenceName='MH02'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching MH03 with Monocular-Inertial sensor"
sequenceName='MH03'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching MH04 with Monocular-Inertial sensor"
sequenceName='MH04'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching MH05 with Monocular-Inertial sensor"
sequenceName='MH05'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching V101 with Monocular-Inertial sensor"
sequenceName='V101'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching V102 with Monocular-Inertial sensor"
sequenceName='V102'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching V103 with Monocular-Inertial sensor"
sequenceName='V103'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching V201 with Monocular-Inertial sensor"
sequenceName='V201'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching V202 with Monocular-Inertial sensor"
sequenceName='V202'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/

echo "Launching V203 with Monocular-Inertial sensor"
sequenceName='V203'
./Examples/Monocular-Inertial/mono_inertial_euroc ./Examples/Monocular-Inertial/EuRoC.yaml "$pathEvaluation"/"$sequenceName"_MONO_IN/ "$pathDataset"/"$sequenceName" ./Examples/Monocular-Inertial/EuRoC_TimeStamps/"$sequenceName".txt
python3 ./evaluation/evaluate_ate_scale.py "$pathDataset"/"$sequenceName"/mav0/state_groundtruth_estimate0/data.csv "$pathEvaluation"/"$sequenceName"_MONO_IN/trajectory.txt --verbose --save_path "$pathEvaluation"/"$sequenceName"_MONO_IN/
