From 213034edfda5e62db044e7b6699775ad94933c07 Mon Sep 17 00:00:00 2001
From: HappyZ <zhuyanzi@gmail.com>
Date: Wed, 5 Jun 2019 14:15:50 -0500
Subject: [PATCH] add a batch processing bash

---
 .gitignore          |   2 +-
 batch_parse.sh      | 113 ++++++++++++++++++++++++++++++++++++++++++++
 libs/parser_post.py |   1 -
 3 files changed, 114 insertions(+), 2 deletions(-)
 create mode 100755 batch_parse.sh

diff --git a/.gitignore b/.gitignore
index 6c277ba..8ba22ce 100644
--- a/.gitignore
+++ b/.gitignore
@@ -55,4 +55,4 @@ CATKIN_IGNORE
 .setup.sh
 config.json
 data
-example/20190505_170223_sig/*
+example_orient_0/20190505_170223_sig/*
diff --git a/batch_parse.sh b/batch_parse.sh
new file mode 100755
index 0000000..15cb1b4
--- /dev/null
+++ b/batch_parse.sh
@@ -0,0 +1,113 @@
+#!/bin/sh
+
+LOG_FILE=batch_parse.log
+PYTHON=python
+VERSION=$(${PYTHON} -c 'import platform; major, minor, patch = platform.python_version_tuple(); print(major);')
+
+if [ VERSION == 2 ]; then
+    PYTHON=python3
+    VERSION=$(${PYTHON} -c 'import platform; major, minor, patch = platform.python_version_tuple(); print(major);')
+fi
+
+if [ VERSION == 3 ]; then
+    echo "cannot find the right python version 3"
+    exit
+fi
+
+echo "python to be used: ${PYTHON} at $(which ${PYTHON})"
+
+if [ "$#" -lt 2 ]; then
+    echo "usage: $0 <folder-to-be-parsed> <output-folder-path-suffix> <optional: sampling num>"
+    exit
+fi
+
+if [ ! -d "$1" ]; then
+    echo "cannot find directory: '${1}'"
+    exit
+fi
+
+SAMPLING_NUM=50
+if [ "$#" -eq 3 ]; then
+    SAMPLING_NUM=$3
+fi
+
+echo "working on folder '$1'"
+
+mkdir -p ${2}_all
+mkdir -p ${2}_horiz
+mkdir -p ${2}_verti
+mkdir -p ${2}_subsampled
+mkdir -p ${2}_direction_0
+mkdir -p ${2}_direction_1
+mkdir -p ${2}_direction_2
+mkdir -p ${2}_direction_3
+
+for folder in ${1%/}/*; do
+    if [ ! -d "$folder" ]; then
+        continue
+    fi
+    # prepare
+    ORIENT=$(echo ${folder} | awk -F "_" '{print $NF}')
+    if [ $ORIENT = "0" ]; then
+        MOVE_TO_FOLDER=${2}_horiz
+    elif [ $ORIENT = "2" ]; then
+        MOVE_TO_FOLDER=${2}_horiz
+    elif [ $ORIENT = "1" ]; then
+        MOVE_TO_FOLDER=${2}_verti
+    elif [ $ORIENT = "3" ]; then
+        MOVE_TO_FOLDER=${2}_verti
+    else
+        continue
+    fi
+
+    echo "processing folder: ${folder}.." >> $LOG_FILE 2>&1
+    
+    echo "########################################"
+    echo "     processing folder: ${folder}.."
+    echo "########################################"
+
+    ${PYTHON} preprocessor.py "${folder}" --pickle -vd >> $LOG_FILE 2>&1
+    if [ ! $? -eq 0 ]; then
+        echo "missing required files.."
+        continue
+    fi
+    echo "########################################"
+    echo "     default"
+    echo "########################################"
+    for file in $(find ${folder} -name "*.png" -o -name "*.pickle"); do
+        cp ${file} ${2}_all/
+        mv ${file} $MOVE_TO_FOLDER/
+    done
+
+    echo "########################################"
+    echo "     subsampling"
+    echo "########################################"
+    # ${PYTHON} preprocessor.py "${folder}" --pickle -vd --sampling --sampling-num ${SAMPLING_NUM} > $LOG_FILE 2>&1
+    # for file in $(find ${folder} -name "*.png" -o -name "*.pickle"); do
+    #     mv ${file} ${2}_subsampled/
+    # done
+
+    echo "########################################"
+    echo "     extract based on moving direction"
+    echo "########################################"
+    if [ $MOVE_TO_FOLDER = "${2}_horiz" ]; then
+        ${PYTHON} preprocessor.py "${folder}" --pickle -vd --filters 0 >> $LOG_FILE 2>&1
+        for file in $(find ${folder} -name "*.png" -o -name "*.pickle"); do
+            mv ${file} ${2}_direction_0/
+        done
+        ${PYTHON} preprocessor.py "${folder}" --pickle -vd --filters 2 >> $LOG_FILE 2>&1
+        for file in $(find ${folder} -name "*.png" -o -name "*.pickle"); do
+            mv ${file} ${2}_direction_2/
+        done
+    elif [ $MOVE_TO_FOLDER = "${2}_verti" ]; then
+        ${PYTHON} preprocessor.py "${folder}" --pickle -vd --filters 1 >> $LOG_FILE 2>&1
+        for file in $(find ${folder} -name "*.png" -o -name "*.pickle"); do
+            mv ${file} ${2}_direction_1/
+        done
+        ${PYTHON} preprocessor.py "${folder}" --pickle -vd --filters 3 >> $LOG_FILE 2>&1
+        for file in $(find ${folder} -name "*.png" -o -name "*.pickle"); do
+            mv ${file} ${2}_direction_3/
+        done
+    fi
+done
+#     python3 ../xiaomi_vacuum_as_data_collector/preprocessor.py "$1/$i" --map
\ No newline at end of file
diff --git a/libs/parser_post.py b/libs/parser_post.py
index c0bc8f0..af64711 100644
--- a/libs/parser_post.py
+++ b/libs/parser_post.py
@@ -97,7 +97,6 @@ def blocking_display_rss_map(rss_map: np.ndarray, visualize: bool = False, outpu
         if q == 'q':
             sys.exit()
     plt.close()
-    print()
 
 
 def convert_to_pickle_rss(