-
Notifications
You must be signed in to change notification settings - Fork 2
/
main.py
executable file
·185 lines (162 loc) · 4.35 KB
/
main.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
#!/usr/bin/env python3
import os
import sys
import argparse
import glob
import multiprocessing
import subprocess
from radarize.config import cfg, update_config
def args():
parser = argparse.ArgumentParser()
parser.add_argument(
"--cfg",
help="experiment configure file name",
default="configs/default.yaml",
type=str,
)
parser.add_argument(
"--n_proc",
type=int,
default=1,
help="Number of processes to use for parallel processing.",
)
parser.add_argument(
"opts",
help="Modify config options using the command-line",
default=None,
nargs=argparse.REMAINDER,
)
args = parser.parse_args()
return args
def run_commands(cmds, n_proc):
with multiprocessing.Pool(n_proc) as pool:
pool.map(subprocess.run, cmds)
if __name__ == "__main__":
args = args()
update_config(cfg, args)
# Preprocess datasets. (bag -> npz)
bag_paths = sorted(glob.glob(os.path.join(cfg["DATASET"]["PATH"], "*.bag")))
bag_paths = [x for x in bag_paths if not os.path.exists(x.replace(".bag", ".npz"))]
run_commands(
[
[f"tools/create_dataset.py", f"--cfg={args.cfg}", f"--bag_path={x}"]
for x in bag_paths
],
args.n_proc,
)
train_npz_paths = sorted(
[
os.path.join(cfg["DATASET"]["PATH"], os.path.basename(x) + ".npz")
for x in cfg["DATASET"]["TRAIN_SPLIT"]
]
)
test_npz_paths = sorted(
[
os.path.join(cfg["DATASET"]["PATH"], os.path.basename(x) + ".npz")
for x in cfg["DATASET"]["TEST_SPLIT"]
]
)
# Extract ground truth.
run_commands(
[
["tools/extract_gt.py", f"--cfg={args.cfg}", f"--npz_path={x}"]
for x in test_npz_paths
],
args.n_proc,
)
# Train flow models.
subprocess.run(["tools/train_flow.py", f"--cfg={args.cfg}"], check=True)
subprocess.run(["tools/test_flow.py", f"--cfg={args.cfg}"], check=True)
# Train rotnet models.
subprocess.run(["tools/train_rot.py", f"--cfg={args.cfg}"], check=True)
subprocess.run(["tools/test_rot.py", f"--cfg={args.cfg}"], check=True)
# Extract odometry.
run_commands(
[
["tools/test_odom.py", f"--cfg={args.cfg}", f"--npz_path={x}"]
for x in test_npz_paths
],
args.n_proc,
)
# Train UNet
subprocess.run(["tools/train_unet.py", f"--cfg={args.cfg}"], check=True)
run_commands(
[
["tools/test_unet.py", f"--cfg={args.cfg}", f"--npz_path={x}"]
for x in test_npz_paths
],
args.n_proc,
)
### Run Cartographer.
# Get ground truth.
subprocess.run(
[
"tools/run_carto.py",
f"--cfg={args.cfg}",
f"--n_proc=1",
f"--odom=gt",
f"--scan=gt",
f"--params=default",
],
check=True,
)
# RadarHD baseline.
subprocess.run(
[
"tools/run_carto.py",
f"--cfg={args.cfg}",
f"--n_proc=1",
f"--odom=gt",
f"--scan=radarhd",
f"--params=scan_only",
],
check=True,
)
# RNIN + RadarHD baseline.
subprocess.run(
[
"tools/run_carto.py",
f"--cfg={args.cfg}",
f"--n_proc=1",
f"--odom=rnin",
f"--scan=radarhd",
f"--params=default",
],
check=True,
)
# milliEgo + RadarHD baseline.
subprocess.run(
[
"tools/run_carto.py",
f"--cfg={args.cfg}",
f"--n_proc=1",
f"--odom=milliego",
f"--scan=radarhd",
f"--params=default",
],
check=True,
)
# Our odometry + RadarHD baseline.
subprocess.run(
[
"tools/run_carto.py",
f"--cfg={args.cfg}",
f"--n_proc=1",
f"--odom=odometry",
f"--scan=radarhd",
f"--params=radar",
],
check=True,
)
# Run radarize.
subprocess.run(
[
"tools/run_carto.py",
f"--cfg={args.cfg}",
f"--n_proc=1",
f"--odom=odometry",
f"--scan=unet",
f"--params=radar",
],
check=True,
)