#!/bin/bash
set -e # exit on error
set -o pipefail

dataset="$1"

method="fts1"

source script_variables.sh

mkdir -p ${chunk_dir}/${method}

for chunk in ${chunk_dir}/???; do
	chunk_id=`basename ${chunk}`
	prefix="${chunk_dir}/${method}/${chunk_id}"
	
	echo "Processing chunk #${chunk_id} (writing to ${chunk_dir}/${method}/${chunk_id})"
	
	${fts_loc} -file_map ${log_slam} -file_log ${chunk} -prefix ${prefix} \
		-min_distance_map 2 -min_distance 4.95 \
		-cell_width 1.0  \
		-horizon 15 -uniform 0.00000001 \
		-map_points_interval 1 -scan_points_interval 1 \
		-normalize 1 -normalize_cell 1 \
		-compress 1 -compress_cell 0.2 \
		-use_ghtv 0  \
		-ghtv2 0 \
		-use_index_trick 0 

done