[WIP] testing data processing run sequence

hollydinkel · Mar 22, 2024 · 455bffe · 455bffe
1 parent e4ad082
commit 455bffe
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Showing 4 changed files with 27 additions and 21 deletions.
diff --git a/astrobee_data_processing_scripts/create_cameras_xml.py b/astrobee_data_processing_scripts/create_cameras_xml.py
@@ -16,7 +16,7 @@
 images_dir = f'./data/{args.date}/{args.robot}/bayer/survey{args.survey}'
 poses_dir = f'./data/{args.date}/{args.robot}/pose/survey{args.survey}'
 poses = sorted(os.listdir(poses_dir))
-fastcd_data_dir = f'/home/hollydinkel/change_ws/src/fast_change_detection/example/dataset/{args.date}_{args.robot}_survey{args.survey}'
+fastcd_data_dir = f'./fast_change_detection/example/dataset/{args.date}_{args.robot}_survey{args.survey}'
 
 try: os.mkdir(fastcd_data_dir)
 except FileExistsError:

diff --git a/astrobee_data_processing_scripts/poses_to_file.py b/astrobee_data_processing_scripts/poses_to_file.py
@@ -21,10 +21,10 @@ def main():
 
     args = parser.parse_args()
 
-    bag_dir = f"./data/{args.date}/{args.robot}/bags/survey{args.survey}"
+    bag_dir = f"{args.date}/{args.robot}/bags/survey{args.survey}"
 
-    output_dir = f"./data/{args.date}/{args.robot}/bayer/survey{args.survey}"
-    output_dir_poses = f"./data/{args.date}/{args.robot}/pose/survey{args.survey}"
+    output_dir = f"{args.date}/{args.robot}/bayer/survey{args.survey}"
+    output_dir_poses = f"{args.date}/{args.robot}/pose/survey{args.survey}"
     try: os.mkdir(output_dir)
     except FileExistsError:
         print(f"{output_dir} already exists!")

diff --git a/astrobee_data_processing_scripts/process_sequential_poses.py b/astrobee_data_processing_scripts/process_sequential_poses.py
@@ -11,8 +11,8 @@
 
 args = parser.parse_args()
 
-img_dir = f"./data/{args.date}/{args.robot}/bayer/survey{args.survey}"
-pose_dir = f"./data/{args.date}/{args.robot}/pose/survey{args.survey}"
+img_dir = f"{args.date}/{args.robot}/bayer/survey{args.survey}"
+pose_dir = f"{args.date}/{args.robot}/pose/survey{args.survey}"
 
 pose_list = sorted([int(os.path.splitext(file)[0]) for file in os.listdir(pose_dir)])
 img_list = sorted([int(os.path.splitext(file)[0]) for file in os.listdir(img_dir)])

diff --git a/process_data.sh b/process_data.sh
@@ -4,29 +4,35 @@ export CATKIN_WS=$HOME/test_ws/src
 export ASTROBEE=$HOME/astrobee
 export ASTROBEE_CHANGE_DETECTION=$CATKIN_WS/astrobee_change_detection
 export DATA=$ASTROBEE_CHANGE_DETECTION/data
+export FASTCD=$ASTROBEE_CHANGE_DETECTION/fast_change_detection
 export DATE=20230419
 export ROBOT=bsharp
 source $ASTROBEE/devel/setup.bash
 
-mkdir $DATA
+# mkdir $DATA
 
-# Install dependencies
-apt-get update
-apt-get install -y python3-pip
-pip install numpy --upgrade
-pip install gdown pyquaternion pandas
+# # Install dependencies
+# apt-get update
+# apt-get install -y python3-pip
+# pip install numpy --upgrade
+# pip install gdown pyquaternion pandas
 
-# Download data
-cd $DATA && gdown https://drive.google.com/uc?id=1qNCRl9XceINrHLFUp4pBti9I4oJO2zf1
-unzip data.zip
-rm $DATA/data.zip
+# # Download data
+# cd $DATA && gdown https://drive.google.com/uc?id=1qNCRl9XceINrHLFUp4pBti9I4oJO2zf1
+# unzip data.zip
+# cp data/ ../
+# rm -rf data/
+# rm $DATA/data.zip
 
-for SURVEY_NUMBER in 1 2 3 4
+for SURVEY_NUMBER in 2 3 4
 do
     export SURVEY=$SURVEY_NUMBER
     cd $DATA && python3 $ASTROBEE_CHANGE_DETECTION/astrobee_data_processing_scripts/poses_to_file.py $SURVEY $DATE $ROBOT
-    rosrun sparse_mapping process_sequential_images.py $DATA/$DATE/$ROBOT/bayer/survey$SURVEY $ASTROBEE/src/astrobee/config
-    cd $DATA && python3 $ASTROBEE_CHANGE_DETECTION/astrobee_data_processing_scripts/process_sequential_poses.py $SURVEY $DATE $ROBOT
-    cd $DATA/$DATE/$ROBOT/bayer/survey$SURVEY
-    ls -v | nl -v 0 | while read n f; do mv -n "$f" "Image$n.JPG"; done
+    rosrun sparse_mapping process_sequential_images.py $DATA/$DATE/$ROBOT/bayer/survey$SURVEY $ASTROBEE/src/astrobee
+    mv $DATA/$DATE/$ROBOT/bayer/survey$SURVEY/0/* $DATA/$DATE/$ROBOT/bayer/survey$SURVEY/
+    rm -rf $DATA/$DATE/$ROBOT/bayer/survey$SURVEY/0 $DATA/$DATE/$ROBOT/bayer/survey$SURVEY/invalid $DATA/$DATE/$ROBOT/bayer/survey$SURVEY/rotation
+    cd $DATA && python3 $ASTROBEE_CHANGE_DETECTION/astrobee_data_processing_scripts/process_sequential_poses.py $SURVEY $DATE $ROBOT && rm *.txt
+    cd $DATA/$DATE/$ROBOT/bayer/survey$SURVEY && ls -v | nl -v 0 | while read n f; do mv -n "$f" "Image$n.JPG"; done
+    cp -r $DATA/$DATE/$ROBOT/bayer/survey$SURVEY $FASTCD/
+    cd $ASTROBEE_CHANGE_DETECTION && python3 astrobee_data_processing_scripts/create_cameras_xml.py $SURVEY $DATE $ROBOT
 done