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multitest_7scene.sh
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#OUTPUT_PATH="experiments/results"
OUTPUT_PATH="/media/hdd/xiaohao/experiments_ma_7scene/results_noloop"
#DATASET_PATH="dataset/Replica"
DATASET_PATH="/media/hdd/xiaohao/data/7Scene_ICP/"
str_pad() {
local pad_length="$1" pad_string="$2" pad_type="$3"
local pad length llength offset rlength
pad="$(eval "printf '%0.${#pad_string}s' '${pad_string}'{1..$pad_length}")"
pad="${pad:0:$pad_length}"
if [[ "$pad_type" == "left" ]]; then
while read line; do
line="${line:0:$pad_length}"
length="$(( pad_length - ${#line} ))"
echo -n "${pad:0:$length}$line"
done
elif [[ "$pad_type" == "both" ]]; then
while read line; do
line="${line:0:$pad_length}"
length="$(( pad_length - ${#line} ))"
llength="$(( length / 2 ))"
offset="$(( llength + ${#line} ))"
rlength="$(( llength + (length % 2) ))"
echo -n "${pad:0:$llength}$line${pad:$offset:$rlength}"
done
else
while read line; do
line="${line:0:$pad_length}"
length="$(( pad_length - ${#line} ))"
echo -n "$line${pad:${#line}:$length}"
done
fi
}
run_()
{
local datasets=$1
local config=$2
local result_txt=$3
local keyframe_th=$4
local knn_maxd=$5
local overlapped_th=$6
local max_correspondence_distance=$7
local trackable_opacity_th=$8
local overlapped_th2=$9
local downsample_rate=${10}
local cuda_device=${11} # Added parameter for CUDA device
local group=${12}
echo "run datasets: $datasets on CUDA device $cuda_device"
python -W ignore mac_ego.py --dataset_path $datasets\
--config $config\
--output_path "$OUTPUT_PATH$group"\
--keyframe_th $keyframe_th\
--knn_maxd $knn_maxd\
--overlapped_th $overlapped_th\
--max_correspondence_distance $max_correspondence_distance\
--trackable_opacity_th $trackable_opacity_th\
--overlapped_th2 $overlapped_th2\
--downsample_rate $downsample_rate\
--cuda $cuda_device\
--mu 1\
--noise 0\
--lc_freq 60\
--post_opt 0\
--save_results #&
# Use & to run the process in the background
}
run_cpslam()
{
local result_txt=$1
local keyframe_th=$2
local knn_maxd=$3
local overlapped_th=$4
local max_correspondence_distance=$5
local trackable_opacity_th=$6
local overlapped_th2=$7
local downsample_rate=$8
local device=0
# Pass datasets without extra single quotes to prevent path errors
#chess 1~3
datasets="$DATASET_PATH/chess/seq-03;$DATASET_PATH/chess/seq-01;$DATASET_PATH/chess/seq-02"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/chess_1"
# chess 4~6
datasets="$DATASET_PATH/chess/seq-05;$DATASET_PATH/chess/seq-04;$DATASET_PATH/chess/seq-06"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/chess_2"
# chess 5,3,1
datasets="$DATASET_PATH/chess/seq-05;$DATASET_PATH/chess/seq-03;$DATASET_PATH/chess/seq-01"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/chess_3"
#fire
datasets="$DATASET_PATH/fire/seq-01;$DATASET_PATH/fire/seq-02;$DATASET_PATH/fire/seq-03;$DATASET_PATH/fire/seq-04"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/fire"
#heads
datasets="$DATASET_PATH/heads/seq-02;$DATASET_PATH/heads/seq-01"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/heads"
#office 1~3
datasets="$DATASET_PATH/office/seq-01;$DATASET_PATH/office/seq-02;$DATASET_PATH/office/seq-03"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/office_1"
#office 4~6
datasets="$DATASET_PATH/office/seq-04;$DATASET_PATH/office/seq-06;$DATASET_PATH/office/seq-05"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/office_2"
#office 7~10
datasets="$DATASET_PATH/office/seq-08;$DATASET_PATH/office/seq-10;$DATASET_PATH/office/seq-09;$DATASET_PATH/office/seq-07"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/office_3"
#office 1,2,4
datasets="$DATASET_PATH/office/seq-04;$DATASET_PATH/office/seq-01;$DATASET_PATH/office/seq-02"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/office_4"
#stairs 1~3
datasets="$DATASET_PATH/stairs/seq-01;$DATASET_PATH/stairs/seq-02;$DATASET_PATH/stairs/seq-03"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/stairs_1"
stairs 4~6
datasets="$DATASET_PATH/stairs/seq-04;$DATASET_PATH/stairs/seq-05;$DATASET_PATH/stairs/seq-06"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/stairs_2"
#stairs 2,4,1,5
datasets="$DATASET_PATH/stairs/seq-02;$DATASET_PATH/stairs/seq-04;$DATASET_PATH/stairs/seq-01;$DATASET_PATH/stairs/seq-05"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/stairs_3"
#pumpkin 1~3
datasets="$DATASET_PATH/pumpkin/seq-03;$DATASET_PATH/pumpkin/seq-01;$DATASET_PATH/pumpkin/seq-02"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/pumpkin_1"
pumpkin 6~8
datasets="$DATASET_PATH/pumpkin/seq-06;$DATASET_PATH/pumpkin/seq-08;$DATASET_PATH/pumpkin/seq-07"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/pumpkin_2"
#pumpkin 3,6,1
datasets="$DATASET_PATH/pumpkin/seq-06;$DATASET_PATH/pumpkin/seq-03;$DATASET_PATH/pumpkin/seq-01"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/pumpkin_3"
#redkitchen 1~4
datasets="$DATASET_PATH/redkitchen/seq-01;$DATASET_PATH/redkitchen/seq-03;$DATASET_PATH/redkitchen/seq-04;$DATASET_PATH/redkitchen/seq-02"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/redkitchen_1"
#redkitchen 5~8
datasets="$DATASET_PATH/redkitchen/seq-07;$DATASET_PATH/redkitchen/seq-08;$DATASET_PATH/redkitchen/seq-05;$DATASET_PATH/redkitchen/seq-06"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/redkitchen_2"
#redkitchen 11~14
datasets="$DATASET_PATH/redkitchen/seq-13;$DATASET_PATH/redkitchen/seq-12;$DATASET_PATH/redkitchen/seq-11;$DATASET_PATH/redkitchen/seq-14"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/redkitchen_3"
#redkitchen 1,4,3
datasets="$DATASET_PATH/redkitchen/seq-01;$DATASET_PATH/redkitchen/seq-03;$DATASET_PATH/redkitchen/seq-04"
run_ "$datasets" "configs/7Scene/caminfo.txt" $result_txt $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance $trackable_opacity_th $overlapped_th2 $downsample_rate $device "/redkitchen_t"
# Wait for all background processes to finish
wait
}
# txt_file="re_init_ablation/default_3DGS.txt"
txt_file="dummy.txt"
str_pad 20 " " left <<< "FPS" > $txt_file
str_pad 15 " " left <<< "RMSE" >> $txt_file
str_pad 15 " " left <<< "train iter" >> $txt_file
str_pad 15 " " left <<< "kframes" >> $txt_file
str_pad 15 " " left <<< "gaussians_num" >> $txt_file
# str_pad 32 " " left <<< "Depth L1" >> $txt_file
str_pad 30 " " left <<< "PSNR" >> $txt_file
str_pad 15 " " left <<< "SSIM" >> $txt_file
str_pad 15 " " left <<< "LPIPS" >> $txt_file
echo "" >> $txt_file
overlapped_th=5e-4
# overlapped_th=1e-3 #for larger noise
max_correspondence_distance=0.02
knn_maxd=99999.0
trackable_opacity_th=0.05
overlapped_th2=5e-5
downsample_rate=5
# keyframe_th=0.7
keyframe_th=0.7
run_cpslam $txt_file $keyframe_th $knn_maxd $overlapped_th $max_correspondence_distance \
$trackable_opacity_th $overlapped_th2 $downsample_rate