evaluate_all.py

import os, shutil
from multiprocessing import Pool
from pathlib import Path
PY3="python3"

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

BENCHMARK_DIR="/benchmark/point_clouds_registration_benchmark/"
PREPROCESSING_DIR="./data/YOHO_FCGF/Testset/"
RESULTS_DIR="/benchmark/experiments/RoReg/results/"

base_command = (f'{PY3}' + ' evaluate_problem.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/']

datasets = (['urban05', 'apartment', 'gazebo_summer', 'gazebo_winter', 'hauptgebaude', 'plain', 'stairs',
             'wood_autumn', 'wood_summer', 'long_office_household', 'pioneer_slam', 'pioneer_slam3', 'box_met',
             'p2at_met', 'planetary_map'])

commands = []

for problem_txt, pcd_dir, dataset in zip(problem_txts, pcd_dirs, datasets):
    full_command = (base_command +
                    f' --input_txt={BENCHMARK_DIR}/{problem_txt}' +
                    f' --input_pcd_dir={BENCHMARK_DIR}/{pcd_dir}' +
                    f' --roreg_dir={PREPROCESSING_DIR}/{dataset}/problems/' +
                    f' --results_dir={RESULTS_DIR}')

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

pool = Pool(1)
pool.map(os.system, commands)