calc_voxel_all.py

import os, shutil
from multiprocessing import Pool
from pathlib import Path
import numpy as np

PY3="python3"

GPU = "0"
os.environ["CUDA_VISIBLE_DEVICES"] = GPU

BENCHMARK_DIR="/benchmark/point_clouds_registration_benchmark/"
PREPROCESSING_DIR="/benchmark/experiments/RoReg/preprocessing/"
OUTPUT_DIR="/benchmark/experiments/RoReg/voxel/"

base_command = (f'{PY3}' + ' calc_voxel_size.py ')

problem_txts = ['kaist/urban05_global.txt',
                'eth/apartment_global.txt',
                'eth/gazebo_summer_global.txt',
                'eth/gazebo_winter_global.txt',
                'eth/hauptgebaude_global.txt',
                'eth/plain_global.txt',
                'eth/stairs_global.txt',
                'eth/wood_autumn_global.txt',
                'eth/wood_summer_global.txt',
                'tum/long_office_household_global.txt',
                'tum/pioneer_slam_global.txt',
                'tum/pioneer_slam3_global.txt',
                'planetary/box_met_global.txt',
                'planetary/p2at_met_global.txt',
                'planetary/planetary_map_global.txt']

pcd_dirs = ['kaist/urban05/',
            'eth/apartment/',
            'eth/gazebo_summer/',
            'eth/gazebo_winter/',
            'eth/hauptgebaude/',
            'eth/plain/',
            'eth/stairs/',
            'eth/wood_autumn/',
            'eth/wood_summer/',
            'tum/long_office_household/',
            'tum/pioneer_slam/',
            'tum/pioneer_slam3/',
            'planetary/box_met/',
            'planetary/p2at_met/',
            'planetary/p2at_met/']

commands = []

for problem_txt, pcd_dir in zip(problem_txts, pcd_dirs):
    full_command = (base_command +
                    f' --input_txt={BENCHMARK_DIR}/{problem_txt}' +
                    f' --pcd_dir={BENCHMARK_DIR}/{pcd_dir}' +
                    f' --out_dir={OUTPUT_DIR}')

    problem_name = Path(problem_txt).stem
    commands.append(full_command)

os.makedirs(OUTPUT_DIR, exist_ok=True)
pool = Pool(1)
pool.map(os.system, commands)

for filename in os.listdir(OUTPUT_DIR):
    f = os.path.join(OUTPUT_DIR, filename)
    voxel = np.load(f)
    print(f'{filename}: {voxel}')