#!/usr/bin/env bash
#Set the following variable according to your setup
#####################################################
BINVOX_PATH="$HOME/Downloads/binvox"
YCB_PATH="$HOME/ycb"
MESH_PATH="google_16k/nontextured.stl"
#####################################################
BINVOX_CMD=$BINVOX_PATH
STRT_DIR=$pwd
cd $YCB_PATH
for obj in $(ls -d */); do
    OBJ_PATH="$YCB_PATH/$obj$MESH_PATH"
    OBJ_DIR="$YCB_PATH/$obj"
    TEMP_FILE="${OBJ_PATH%.*}.binvox"
    echo "Processing $OBJ_PATH";
    cd $OBJ_DIR
    if [ -f "$TEMP_FILE" ]; then
	rm $TEMP_FILE
    fi
    $BINVOX_CMD $OBJ_PATH -ri
    binvox2bt $TEMP_FILE
    rm $TEMP_FILE
    cd $YCB_PATH
done
cd $STRT_DIR