multiple_runs.py

import os 
import argparse
import subprocess
import shutil 
"""./Examples/Monocular/mono_tum_vi ./Vocabulary/ORBvoc.txt ./Examples/Monocular/TUM-VI.yaml ../Datasets/tumvi/room/dataset-room1_512_16_2/mav0/cam0/data ./Examples/Monocular/TUM_TimeStamps/dataset-room1_512.txt dataset-tum-test
./Examples/Monocular/mono_tum_vi ./Vocabulary/ORBvoc.txt ./Examples/Monocular/TUM-VI.yaml ../Datasets/tumvi/room/dataset-room1_512_16/mav0/cam0/data ./Examples/Monocular/TUM_TimeStamps/dataset-room1_512_16.txt dataset-room1_512_16_0
"""

PATH_DATASETS = '../Datasets/tumvi/room'
ORB_SLAM_PATH = '/home/cm2113/workspace/ORB_SLAM3'
DATASETS_1 = ['dataset-room1_512_16', 'dataset-room1_512_16_8', 'dataset-room1_512_16_7', 'dataset-room1_512_16_6', 'dataset-room1_512_16_5', 'dataset-room1_512_16_4', 'dataset-room1_512_16_3', 'dataset-room1_512_16_2', 'dataset-room1_512_16_2-5', 'dataset-room1_512_16_20'] # SPECIFIC 'dataset-room1_512_16', 'dataset-room1_512_16_8', 'dataset-room1_512_16_7', 'dataset-room1_512_16_6', 'dataset-room1_512_16_5', 'dataset-room1_512_16_4', 'dataset-room1_512_16_3', 'dataset-room1_512_16_2'
DATASETS_2 = ['dataset-room2_512_16', 'dataset-room2_512_16_8', 'dataset-room2_512_16_7', 'dataset-room2_512_16_6', 'dataset-room2_512_16_5', 'dataset-room2_512_16_4', 'dataset-room2_512_16_3', 'dataset-room2_512_16_2', 'dataset-room2_512_16_2-5', 'dataset-room2_512_16_20']
DATASETS_3 = ['dataset-room3_512_16', 'dataset-room3_512_16_8', 'dataset-room3_512_16_7', 'dataset-room3_512_16_6', 'dataset-room3_512_16_5', 'dataset-room3_512_16_4', 'dataset-room3_512_16_3', 'dataset-room3_512_16_2', 'dataset-room3_512_16_2-5', 'dataset-room3_512_16_20']
DATASETS_1_GBLUR = ['dataset-room1_512_16_gblur_3', 'dataset-room1_512_16_gblur_9', 'dataset-room1_512_16_gblur_15']
DATASETS_2_GBLUR = ['dataset-room2_512_16_gblur_3', 'dataset-room2_512_16_gblur_9', 'dataset-room2_512_16_gblur_15']
DATASETS_3_GBLUR = ['dataset-room3_512_16_gblur_3', 'dataset-room3_512_16_gblur_9', 'dataset-room3_512_16_gblur_15']

def main():
    parser = argparse.ArgumentParser(description='Run ORB-SLAM3 multiple times and deal with saving and extracting results')
    parser.add_argument('--iter', default=10, type=int, help='the number of iterations for each sequence, default 10')
    parser.add_argument('--imu', default="1", type=str, help='ORB-SLAM wit or without imu, default 1')
    parser.add_argument('--seq', type=int, default=None, help='sequence to run, default None, i.e., run all')
    parser.add_argument('--sub', type=str, default="")
    parser.add_argument('--ds', default=1, type=int)
    parser.add_argument('--gblur', action='store_true')
    
    args = parser.parse_args()
    iter = args.iter
    imu = args.imu 
    seq = args.seq
    imu = [int(i) for i in imu.split()]
    sub = args.sub
    
    if args.ds == 1:
        if args.gblur:
            data = DATASETS_1_GBLUR
        else:
            data = DATASETS_1
    elif args.ds == 2:
        if args.gblur:
            data = DATASETS_2_GBLUR
        else:
            data = DATASETS_2
    elif args.ds == 3: 
        if args.gblur:
            data = DATASETS_3_GBLUR
        else:
            data = DATASETS_3 

    if seq is not None:
        datasets = [data[seq]]
    else:
        datasets = data
    for im in imu:
        if im: 
            sub_path = 'Monocular-Inertial'
            sub_run_path = 'mono_inertial_tum_vi'
            sub_save ='withimu'
        else: 
            sub_path = 'Monocular'
            sub_run_path = 'mono_tum_vi'
            sub_save ='withoutimu'

        
        run_path = f'./Examples/{sub_path}/{sub_run_path}'
        vocabulary_path = f'./Vocabulary/ORBvoc.txt'
        yaml_path = f'./Examples/{sub_path}/TUM-VI.yaml'
        timestamps = f'./Examples/{sub_path}/TUM_TimeStamps/dataset-room{args.ds}_512.txt'
        

        for data in datasets:
            if sub != "": 
                t = f'/home/cm2113/workspace/results/{data}/orb_slam/data{sub}'
                os.mkdir(t) if not os.path.exists(t) else None
                print(f'gone in here {t}')
            save_path = f'/home/cm2113/workspace/results/{data}/orb_slam/data{sub}/{sub_save}'
            os.mkdir(save_path) if not os.path.exists(save_path) else None 
            # to enable run cuts 
            if os.path.exists(save_path):
                j = len(os.listdir(save_path))
                print(f'{j} number of files already created, start from... {j+1}')
            else:
                j=0
            for i in range(iter-j): 
                i += j 
                save_path = f'/home/cm2113/workspace/results/{data}/orb_slam/data{sub}/{sub_save}/run_{i}'
                os.mkdir(save_path) if not os.path.exists(save_path) else None 
                if im: 
                    cmd = f'{run_path} {vocabulary_path} {yaml_path} {PATH_DATASETS}/{data}/mav0/cam0/data {timestamps} {PATH_DATASETS}/{data}/mav0/imu0/data.csv {data}_0'
                else: 
                    cmd = f'{run_path} {vocabulary_path} {yaml_path} {PATH_DATASETS}/{data}/mav0/cam0/data {timestamps} {data}_0'
                print(cmd)
                subprocess.run(cmd.split())

                saving_name = f'f_{data}_0.txt'
                shutil.copy(saving_name, f'{save_path}/{saving_name}')
                shutil.copy('octaves.txt', f'{save_path}/octaves.txt')
                shutil.copy('MotionModel.txt', f'{save_path}/MotionModel.txt')
                shutil.copy('State.txt', f'{save_path}/State.txt')
                
            groundtruth = 'o' if im else 't'
            cmd = f'python /home/cm2113/workspace/dm-vio-python-tools/compute_results.py {data} orb_slam {im} --sub={sub} --gt={groundtruth}'
            subprocess.run(cmd.split())

            


            

if __name__=='__main__': 
    main()