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batch_whu.py
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import os
import subprocess
# VIO
p = subprocess.Popen("python demo_vio_whu.py" +\
" --imagedir=/home/zhouyuxuan/data/WUH1012/cam0" +\
" --imagestamp=/home/zhouyuxuan/data/WUH1012/camstamp.txt" +\
" --imupath=/home/zhouyuxuan/data/WUH1012/imu.txt" +\
" --gtpath=/home/zhouyuxuan/data/WUH1012/IE.txt" +\
" --resultpath=results/result_whu_vio.txt" +\
" --calib=calib/1012.txt" +\
" --stride=2" +\
" --max_factors=48" +\
" --active_window=12" +\
" --frontend_window=5" +\
" --frontend_radius=2" +\
" --frontend_nms=1" +\
" --inac_range=3" +\
" --visual_only=0" +\
" --far_threshold=-1" +\
" --translation_threshold=0.25" +\
" --mask_threshold=0.0" +\
" --skip_edge=[]" +\
" --save_pkl" +\
" --use_zupt" +\
" --pklpath=results/whu.pkl" +\
" --show_plot",
shell=True)
p.wait()
# VIO + wheel
p = subprocess.Popen("python demo_vio_whu.py" +\
" --imagedir=/home/zhouyuxuan/data/WUH1012/cam0" +\
" --imagestamp=/home/zhouyuxuan/data/WUH1012/camstamp.txt" +\
" --imupath=/home/zhouyuxuan/data/WUH1012/imu.txt" +\
" --gtpath=/home/zhouyuxuan/data/WUH1012/IE.txt" +\
" --resultpath=results/result_whu_viow.txt" +\
" --calib=calib/1012.txt" +\
" --stride=2" +\
" --max_factors=48" +\
" --active_window=12" +\
" --frontend_window=5" +\
" --frontend_radius=2" +\
" --frontend_nms=1" +\
" --inac_range=3" +\
" --visual_only=0" +\
" --far_threshold=-1" +\
" --translation_threshold=0.25" +\
" --mask_threshold=0.0" +\
" --skip_edge=[]" +\
" --save_pkl" +\
" --use_odo" +\
" --odopath=/home/zhouyuxuan/data/WUH1012/odo_synthesis.txt" +\
" --pklpath=results/whu.pkl" +\
" --show_plot",
shell=True)
p.wait()
# VIO + GNSS
p = subprocess.Popen("python demo_vio_whu.py" +\
" --imagedir=/home/zhouyuxuan/data/WUH1012/cam0" +\
" --imagestamp=/home/zhouyuxuan/data/WUH1012/camstamp.txt" +\
" --imupath=/home/zhouyuxuan/data/WUH1012/imu.txt" +\
" --gtpath=/home/zhouyuxuan/data/WUH1012/IE.txt" +\
" --resultpath=results/result_whu_viog.txt" +\
" --calib=calib/1012.txt" +\
" --stride=2" +\
" --max_factors=48" +\
" --active_window=12" +\
" --frontend_window=5" +\
" --frontend_radius=2" +\
" --frontend_nms=1" +\
" --inac_range=3" +\
" --visual_only=0" +\
" --far_threshold=-1" +\
" --translation_threshold=0.25" +\
" --mask_threshold=0.0" +\
" --skip_edge=[]" +\
" --save_pkl" +\
" --use_gnss" +\
" --gnsspath=/home/zhouyuxuan/data/data_20221012103154/SEPT-PVT.flt" +\
" --pklpath=results/whu.pkl" +\
" --show_plot",
shell=True)
p.wait()