third_party/ASpanFormer/tools/extract.py

import os
import glob
from re import split
from tqdm import tqdm
from multiprocessing import Pool
from functools import partial

scannet_dir = "/root/data/ScanNet-v2-1.0.0/data/raw"
dump_dir = "/root/data/scannet_dump"
num_process = 32


def extract(seq, scannet_dir, split, dump_dir):
    assert split == "train" or split == "test"
    if not os.path.exists(os.path.join(dump_dir, split, seq)):
        os.mkdir(os.path.join(dump_dir, split, seq))
    cmd = (
        "python reader.py --filename "
        + os.path.join(
            scannet_dir,
            "scans" if split == "train" else "scans_test",
            seq,
            seq + ".sens",
        )
        + " --output_path "
        + os.path.join(dump_dir, split, seq)
        + " --export_depth_images --export_color_images --export_poses --export_intrinsics"
    )
    os.system(cmd)


if __name__ == "__main__":
    if not os.path.exists(dump_dir):
        os.mkdir(dump_dir)
        os.mkdir(os.path.join(dump_dir, "train"))
        os.mkdir(os.path.join(dump_dir, "test"))

    train_seq_list = [
        seq.split("/")[-1]
        for seq in glob.glob(os.path.join(scannet_dir, "scans", "scene*"))
    ]
    test_seq_list = [
        seq.split("/")[-1]
        for seq in glob.glob(os.path.join(scannet_dir, "scans_test", "scene*"))
    ]

    extract_train = partial(
        extract, scannet_dir=scannet_dir, split="train", dump_dir=dump_dir
    )
    extract_test = partial(
        extract, scannet_dir=scannet_dir, split="test", dump_dir=dump_dir
    )

    num_train_iter = (
        len(train_seq_list) // num_process
        if len(train_seq_list) % num_process == 0
        else len(train_seq_list) // num_process + 1
    )
    num_test_iter = (
        len(test_seq_list) // num_process
        if len(test_seq_list) % num_process == 0
        else len(test_seq_list) // num_process + 1
    )

    pool = Pool(num_process)
    for index in tqdm(range(num_train_iter)):
        seq_list = train_seq_list[
            index * num_process : min((index + 1) * num_process, len(train_seq_list))
        ]
        pool.map(extract_train, seq_list)
    pool.close()
    pool.join()

    pool = Pool(num_process)
    for index in tqdm(range(num_test_iter)):
        seq_list = test_seq_list[
            index * num_process : min((index + 1) * num_process, len(test_seq_list))
        ]
        pool.map(extract_test, seq_list)
    pool.close()
    pool.join()