run_batch.py

import os

def MakeDir(nd):
  if not os.path.exists(nd):
    os.mkdir(nd)


# dataroot = "/data/xukuan/UMA/DynamicIll/selected_seq/indoor"
# saving_root = "/home/xukuan/project/air_vo/experiments/resubmit/multi-thread1/uma5"
# workspace = "/home/xukuan/project/air_vo/air_vo_ws"
# traj_gt_dir = "/home/xukuan/project/air_vo/experiments/traj_gt/uma"

dataroot = "/data/xukuan/OIVIO/selected_seq"
saving_root = "/home/xukuan/project/air_vo/experiments/resubmit/multi-thread1/oivio4"
workspace = "/home/xukuan/project/air_vo/air_vo_ws"
traj_gt_dir = "/home/xukuan/project/air_vo/experiments/traj_gt/oivio"

MakeDir(saving_root)
traj_saving_root = os.path.join(saving_root, "traj")
MakeDir(traj_saving_root)
eva_root = os.path.join(saving_root, "evaluation")
MakeDir(eva_root)
eva_seq_root = os.path.join(saving_root, "seq")
MakeDir(eva_seq_root)
eva_sum_root = os.path.join(saving_root, "sum")
MakeDir(eva_sum_root)

sequences = os.listdir(dataroot)
for sequence in sequences:
  seq_dataroot = os.path.join(dataroot, sequence)
  seq_traj_file = sequence + ".txt"
  seq_traj_path = os.path.join(traj_saving_root, seq_traj_file)
  if os.path.exists(seq_traj_path):
    continue

  # os.system("cd {} & roslaunch air_vo uma_bumblebee_indoor.launch dataroot:={} traj_path:={}".format(workspace, seq_dataroot, seq_traj_path))
  os.system("cd {} & roslaunch air_vo oivio.launch dataroot:={} traj_path:={}".format(workspace, seq_dataroot, seq_traj_path))

  gt_path = os.path.join(traj_gt_dir, seq_traj_file)
  if not os.path.exists(gt_path):
    csv_gt_file = sequence + ".csv"
    gt_path = os.path.join(traj_gt_dir, csv_gt_file)
    if not os.path.exists(gt_path):
      continue

  eva_seq_file = sequence + ".zip"
  eva_seq_path = os.path.join(eva_seq_root, eva_seq_file)
  os.system("evo_ape tum {} {} -a --save_results {}".format(gt_path, seq_traj_path, eva_seq_path))

table_file = os.path.join(eva_sum_root, "sum.csv")
os.system("evo_res {}/*.zip -p --save_table {}".format(eva_seq_root, table_file))