refactor: replace terminal (cpp) files with pybind call

scripts/recon_benchmark.py

@@ -1,67 +1,49 @@
 import multiprocessing
 from pathlib import Path
 
-from oxford_spires_utils.bash_command import run_command
+from spires_cpp import convertOctreeToPointCloud, processPCDFolder, removeUnknownPoints
 
-
-def run_pcd2bt(cloud_folder: str, cloud_bt_path: str, pcd2bt_path: str, get_occ_free_from_bt_path: str):
-    cloud_folder, cloud_bt_path = str(cloud_folder), str(cloud_bt_path)
-    pcd2bt_path, get_occ_free_from_bt_path = str(pcd2bt_path), str(get_occ_free_from_bt_path)
-
-    pcd2bt_command = [pcd2bt_path, cloud_folder, "-s", str(cloud_bt_path)]
-    pcd2bt_command = " ".join(pcd2bt_command)
-    run_command(pcd2bt_command)
-
-    saved_occ_pcd_path = str(Path(cloud_bt_path).with_name(f"{Path(cloud_bt_path).stem}_occ.pcd"))
-    saved_free_pcd_path = str(Path(cloud_bt_path).with_name(f"{Path(cloud_bt_path).stem}_free.pcd"))
-    get_occ_free_from_bt_command = [
-        get_occ_free_from_bt_path,
-        cloud_bt_path,
-        "-so",
-        saved_occ_pcd_path,
-        "-sf",
-        saved_free_pcd_path,
-    ]
-    print(get_occ_free_from_bt_command)
-    get_occ_free_from_bt_command = " ".join(get_occ_free_from_bt_command)
-    run_command(get_occ_free_from_bt_command)
-
-
-input_cloud_folder_path = "/home/yifu/data/nerf_data_pipeline/2024-03-13-maths_1/raw/individual_clouds"
+# input_cloud_folder_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/input_cloud_test"
+# gt_cloud_folder_path = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1/gt_cloud_test"
+input_cloud_folder_path = "/home/yifu/data/nerf_data_pipeline/2024-03-13-maths_1/raw/individual_clouds_new"
 gt_cloud_folder_path = "/media/yifu/Samsung_T71/oxford_spires/2024-03-13-maths/gt/individual_pcd"
 project_folder = "/home/yifu/workspace/Spires_2025/2024-03-13-maths_1"
 Path(project_folder).mkdir(parents=True, exist_ok=True)
 
 input_cloud_bt_path = Path(project_folder) / "input_cloud.bt"
 gt_cloud_bt_path = Path(project_folder) / "gt_cloud.bt"
 
-octomap_utils_path = Path(__file__).parent.parent / "octomap_utils"
-pcd2bt_path = octomap_utils_path / "build" / "pcd2bt"
-get_occ_free_from_bt_path = octomap_utils_path / "build" / "get_occ_free_from_bt"
-filter_pcd_with_bt_path = octomap_utils_path / "build" / "filter_pcd_with_bt"
 
 processes = []
+octomap_resolution = 0.1
 for cloud_folder, cloud_bt_path in zip(
-    [input_cloud_folder_path, gt_cloud_folder_path], [input_cloud_bt_path, gt_cloud_bt_path, gt_cloud_bt_path]
+    [input_cloud_folder_path, gt_cloud_folder_path], [input_cloud_bt_path, gt_cloud_bt_path]
 ):
     process = multiprocessing.Process(
-        target=run_pcd2bt, args=(cloud_folder, cloud_bt_path, pcd2bt_path, get_occ_free_from_bt_path)
+        target=processPCDFolder, args=(str(cloud_folder), octomap_resolution, str(cloud_bt_path))
     )
     processes.append(process)
 
-for process in processes:
-    process.start()
 
-for process in processes:
-    process.join()
+# for process in processes:
+#     process.start()
+
+# for process in processes:
+#     process.join()
+
+
+gt_cloud_free_path = str(Path(gt_cloud_bt_path).with_name(f"{Path(gt_cloud_bt_path).stem}_free.pcd"))
+gt_cloud_occ_path = str(Path(gt_cloud_bt_path).with_name(f"{Path(gt_cloud_bt_path).stem}_occ.pcd"))
+input_cloud_free_path = str(Path(input_cloud_bt_path).with_name(f"{Path(input_cloud_bt_path).stem}_free.pcd"))
+input_cloud_occ_path = str(Path(input_cloud_bt_path).with_name(f"{Path(input_cloud_bt_path).stem}_occ.pcd"))
+convertOctreeToPointCloud(str(gt_cloud_bt_path), str(gt_cloud_free_path), str(gt_cloud_occ_path))
+convertOctreeToPointCloud(str(input_cloud_bt_path), str(input_cloud_free_path), str(input_cloud_occ_path))
 
 input_occ_pcd_path = str(Path(input_cloud_bt_path).with_name(f"{Path(input_cloud_bt_path).stem}_occ.pcd"))
 input_occ_filtered_path = str(Path(input_cloud_bt_path).with_name(f"{Path(input_cloud_bt_path).stem}_occ_filtered.pcd"))
 gt_occ_pcd_path = str(Path(gt_cloud_bt_path).with_name(f"{Path(gt_cloud_bt_path).stem}_occ.pcd"))
 gt_occ_filtered_path = str(Path(gt_cloud_bt_path).with_name(f"{Path(gt_cloud_bt_path).stem}_occ_filtered.pcd"))
-filter_pcd_command = [str(filter_pcd_with_bt_path), str(gt_cloud_bt_path), input_occ_pcd_path, input_occ_filtered_path]
-filter_pcd_command = " ".join(filter_pcd_command)
-run_command(filter_pcd_command)
-filter_pcd_command = [str(filter_pcd_with_bt_path), str(input_cloud_bt_path), gt_occ_pcd_path, gt_occ_filtered_path]
-filter_pcd_command = " ".join(filter_pcd_command)
-run_command(filter_pcd_command)
+
+
+removeUnknownPoints(input_occ_pcd_path, str(gt_cloud_bt_path), input_occ_filtered_path)
+removeUnknownPoints(gt_occ_pcd_path, str(input_cloud_bt_path), gt_occ_filtered_path)