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Modify --eval-log to --eval-log-dir (#151)
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@ymd-stella
ymd-stella authored Aug 18, 2023
1 parent ca699df commit 122235f
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Showing 2 changed files with 14 additions and 14 deletions.
14 changes: 7 additions & 7 deletions src/run_slam.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ namespace fs = ghc::filesystem;

void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
const std::shared_ptr<stella_vslam::config>& cfg,
const bool eval_log,
const std::string& eval_log_dir,
const std::string& map_db_path,
const std::string& viewer_string) {
auto& SLAM = slam_ros->slam_;
Expand Down Expand Up @@ -108,12 +108,12 @@ void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
SLAM->shutdown();

auto& track_times = slam_ros->track_times_;
if (eval_log) {
if (!eval_log_dir.empty()) {
// output the trajectories for evaluation
SLAM->save_frame_trajectory("frame_trajectory.txt", "TUM");
SLAM->save_keyframe_trajectory("keyframe_trajectory.txt", "TUM");
SLAM->save_frame_trajectory(eval_log_dir + "/frame_trajectory.txt", "TUM");
SLAM->save_keyframe_trajectory(eval_log_dir + "/keyframe_trajectory.txt", "TUM");
// output the tracking times for evaluation
std::ofstream ofs("track_times.txt", std::ios::out);
std::ofstream ofs(eval_log_dir + "/track_times.txt", std::ios::out);
if (ofs.is_open()) {
for (const auto track_time : track_times) {
ofs << track_time << std::endl;
Expand Down Expand Up @@ -149,7 +149,7 @@ int main(int argc, char* argv[]) {
auto setting_file_path = op.add<popl::Value<std::string>>("c", "config", "setting file path");
auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");
auto log_level = op.add<popl::Value<std::string>>("", "log-level", "log level", "info");
auto eval_log = op.add<popl::Switch>("", "eval-log", "store trajectory and tracking times for evaluation");
auto eval_log_dir = op.add<popl::Value<std::string>>("", "eval-log-dir", "store trajectory and tracking times at this path (Specify the directory where it exists.)", "");
auto map_db_path_in = op.add<popl::Value<std::string>>("i", "map-db-in", "load a map from this path", "");
auto map_db_path_out = op.add<popl::Value<std::string>>("o", "map-db-out", "store a map database at this path after slam", "");
auto disable_mapping = op.add<popl::Switch>("", "disable-mapping", "disable mapping");
Expand Down Expand Up @@ -272,7 +272,7 @@ int main(int argc, char* argv[]) {
}

// run tracking
tracking(slam_ros, cfg, eval_log->is_set(), map_db_path_out->value(), viewer_string);
tracking(slam_ros, cfg, eval_log_dir->value(), map_db_path_out->value(), viewer_string);

#ifdef USE_GOOGLE_PERFTOOLS
ProfilerStop();
Expand Down
14 changes: 7 additions & 7 deletions src/run_slam_offline.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ namespace fs = ghc::filesystem;

void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
const std::shared_ptr<stella_vslam::config>& cfg,
const bool eval_log,
const std::string& eval_log_dir,
const std::string& map_db_path,
const std::string& bag_path,
const std::string& camera_topic,
Expand Down Expand Up @@ -246,12 +246,12 @@ void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
SLAM->shutdown();

auto& track_times = slam_ros->track_times_;
if (eval_log) {
if (!eval_log_dir.empty()) {
// output the trajectories for evaluation
SLAM->save_frame_trajectory("frame_trajectory.txt", "TUM");
SLAM->save_keyframe_trajectory("keyframe_trajectory.txt", "TUM");
SLAM->save_frame_trajectory(eval_log_dir + "/frame_trajectory.txt", "TUM");
SLAM->save_keyframe_trajectory(eval_log_dir + "/keyframe_trajectory.txt", "TUM");
// output the tracking times for evaluation
std::ofstream ofs("track_times.txt", std::ios::out);
std::ofstream ofs(eval_log_dir + "/track_times.txt", std::ios::out);
if (ofs.is_open()) {
for (const auto track_time : track_times) {
ofs << track_time << std::endl;
Expand Down Expand Up @@ -295,7 +295,7 @@ int main(int argc, char* argv[]) {
auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");
auto no_sleep = op.add<popl::Switch>("", "no-sleep", "not wait for next frame in real time");
auto log_level = op.add<popl::Value<std::string>>("", "log-level", "log level", "info");
auto eval_log = op.add<popl::Switch>("", "eval-log", "store trajectory and tracking times for evaluation");
auto eval_log_dir = op.add<popl::Value<std::string>>("", "eval-log-dir", "store trajectory and tracking times at this path (Specify the directory where it exists.)", "");
auto map_db_path_in = op.add<popl::Value<std::string>>("i", "map-db-in", "load a map from this path", "");
auto map_db_path_out = op.add<popl::Value<std::string>>("o", "map-db-out", "store a map database at this path after slam", "");
auto disable_mapping = op.add<popl::Switch>("", "disable-mapping", "disable mapping");
Expand Down Expand Up @@ -420,7 +420,7 @@ int main(int argc, char* argv[]) {
// run tracking
tracking(
slam_ros,
cfg, eval_log->is_set(),
cfg, eval_log_dir->value(),
map_db_path_out->value(),
bag_path->value(),
camera_topic->value(),
Expand Down

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