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lidar_postprocessing/create_range_imgs.ipynb

@@ -7,12 +7,26 @@
    "metadata": {},
    "outputs": [
     {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Jupyter environment detected. Enabling Open3D WebVisualizer.\n",
-      "[Open3D INFO] WebRTC GUI backend enabled.\n",
-      "[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.\n"
+     "ename": "KeyboardInterrupt",
+     "evalue": "",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[1;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
+      "Cell \u001b[1;32mIn[1], line 7\u001b[0m\n\u001b[0;32m      5\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mnumpy\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mnp\u001b[39;00m\n\u001b[0;32m      6\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mcv2\u001b[39;00m\n\u001b[1;32m----> 7\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mopen3d\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mo3d\u001b[39;00m\n\u001b[0;32m      8\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mmatplotlib\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mpyplot\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mplt\u001b[39;00m\n\u001b[0;32m      9\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mscipy\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mspatial\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mtransform\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Rotation\n",
+      "File \u001b[1;32mc:\\Users\\conno\\anaconda3\\envs\\CADRRA\\lib\\site-packages\\open3d\\__init__.py:127\u001b[0m\n\u001b[0;32m    123\u001b[0m                 submodules[subname] \u001b[38;5;241m=\u001b[39m sys\u001b[38;5;241m.\u001b[39mmodules[modname]\n\u001b[0;32m    124\u001b[0m     sys\u001b[38;5;241m.\u001b[39mmodules\u001b[38;5;241m.\u001b[39mupdate(submodules)\n\u001b[1;32m--> 127\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mopen3d\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mvisualization\u001b[39;00m\n\u001b[0;32m    129\u001b[0m _insert_pybind_names(skip_names\u001b[38;5;241m=\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mml\u001b[39m\u001b[38;5;124m\"\u001b[39m,))\n\u001b[0;32m    131\u001b[0m __version__ \u001b[38;5;241m=\u001b[39m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m0.19.0\u001b[39m\u001b[38;5;124m\"\u001b[39m\n",
+      "File \u001b[1;32mc:\\Users\\conno\\anaconda3\\envs\\CADRRA\\lib\\site-packages\\open3d\\visualization\\__init__.py:19\u001b[0m\n\u001b[0;32m     16\u001b[0m     \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mopen3d\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mcpu\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mpybind\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mvisualization\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;241m*\u001b[39m\n\u001b[0;32m     18\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_external_visualizer\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;241m*\u001b[39m\n\u001b[1;32m---> 19\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mdraw_plotly\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m draw_plotly\n\u001b[0;32m     20\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mdraw_plotly\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m draw_plotly_server\n\u001b[0;32m     21\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mto_mitsuba\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m to_mitsuba\n",
+      "File \u001b[1;32mc:\\Users\\conno\\anaconda3\\envs\\CADRRA\\lib\\site-packages\\open3d\\visualization\\draw_plotly.py:12\u001b[0m\n\u001b[0;32m      9\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mnumpy\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mnp\u001b[39;00m\n\u001b[0;32m     10\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mplotly\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mgraph_objects\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mgo\u001b[39;00m\n\u001b[1;32m---> 12\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mdash\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m html\n\u001b[0;32m     13\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mdash\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m dcc\n\u001b[0;32m     14\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mdash\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Dash\n",
+      "File \u001b[1;32mc:\\Users\\conno\\anaconda3\\envs\\CADRRA\\lib\\site-packages\\dash\\__init__.py:18\u001b[0m\n\u001b[0;32m     16\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m resources  \u001b[38;5;66;03m# noqa: F401,E402\u001b[39;00m\n\u001b[0;32m     17\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m dcc  \u001b[38;5;66;03m# noqa: F401,E402\u001b[39;00m\n\u001b[1;32m---> 18\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m html  \u001b[38;5;66;03m# noqa: F401,E402\u001b[39;00m\n\u001b[0;32m     19\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m dash_table  \u001b[38;5;66;03m# noqa: F401,E402\u001b[39;00m\n\u001b[0;32m     20\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mversion\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m __version__  \u001b[38;5;66;03m# noqa: F401,E402\u001b[39;00m\n",
+      "File \u001b[1;32mc:\\Users\\conno\\anaconda3\\envs\\CADRRA\\lib\\site-packages\\dash\\html\\__init__.py:3\u001b[0m\n\u001b[0;32m      1\u001b[0m \u001b[38;5;124;03m\"\"\"Vanilla HTML components for Dash\"\"\"\u001b[39;00m\n\u001b[1;32m----> 3\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_imports_\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;241m*\u001b[39m  \u001b[38;5;66;03m# noqa: E402, F401, F403\u001b[39;00m\n\u001b[0;32m      4\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_imports_\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m __all__  \u001b[38;5;66;03m# noqa: E402\u001b[39;00m\n\u001b[0;32m      6\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mjson\u001b[39;00m\n",
+      "File \u001b[1;32m<frozen importlib._bootstrap>:1027\u001b[0m, in \u001b[0;36m_find_and_load\u001b[1;34m(name, import_)\u001b[0m\n",
+      "File \u001b[1;32m<frozen importlib._bootstrap>:1002\u001b[0m, in \u001b[0;36m_find_and_load_unlocked\u001b[1;34m(name, import_)\u001b[0m\n",
+      "File \u001b[1;32m<frozen importlib._bootstrap>:945\u001b[0m, in \u001b[0;36m_find_spec\u001b[1;34m(name, path, target)\u001b[0m\n",
+      "File \u001b[1;32m<frozen importlib._bootstrap_external>:1439\u001b[0m, in \u001b[0;36mfind_spec\u001b[1;34m(cls, fullname, path, target)\u001b[0m\n",
+      "File \u001b[1;32m<frozen importlib._bootstrap_external>:1411\u001b[0m, in \u001b[0;36m_get_spec\u001b[1;34m(cls, fullname, path, target)\u001b[0m\n",
+      "File \u001b[1;32m<frozen importlib._bootstrap_external>:1548\u001b[0m, in \u001b[0;36mfind_spec\u001b[1;34m(self, fullname, target)\u001b[0m\n",
+      "File \u001b[1;32m<frozen importlib._bootstrap_external>:1591\u001b[0m, in \u001b[0;36m_fill_cache\u001b[1;34m(self)\u001b[0m\n",
+      "\u001b[1;31mKeyboardInterrupt\u001b[0m: "
      ]
     }
    ],
@@ -31,7 +45,13 @@
     "import utils.utils as utils\n",
     "from natsort import natsorted\n",
     "\n",
-    "cmap = plt.get_cmap(\"jet\")"
+    "cmap = plt.get_cmap(\"jet\")\n",
+    "\n",
+    "# Toggle the following boolean to False if not using HuggingFace App\n",
+    "hf_app = True\n",
+    "\n",
+    "if hf_app:\n",
+    "    from huggingface_hub import snapshot_download\n"
    ]
   },
   {
@@ -48,7 +68,7 @@
     "camera_pos = 'front'\n",
     "root_directory = f\"/data/FRED/{condition}/KITTI-style\"\n",
     "\n",
-    "if not os.path.exists(root_directory):\n",
+    "if (not os.path.exists(root_directory)) and (hf_app):\n",
     "    snapshot_download(\n",
     "        repo_id=\"CMalone-Jupiter/FRED\",\n",
     "        repo_type=\"dataset\",\n",

localisation/groundtruth_utm-single.ipynb

@@ -19,7 +19,12 @@
     "from utils.camera import ImageData\n",
     "import utils.utils as utils\n",
     "from natsort import natsorted\n",
-    "from huggingface_hub import snapshot_download"
+    "\n",
+    "# Toggle the following boolean to False if not using HuggingFace App\n",
+    "hf_app = True\n",
+    "\n",
+    "if hf_app:\n",
+    "    from huggingface_hub import snapshot_download"
    ]
   },
   {
@@ -37,7 +42,7 @@
     "qry_camera_pos = 'front'\n",
     "qry_root_directory = f\"/data/FRED/{qry_condition}/KITTI-style\"\n",
     "\n",
-    "if not os.path.exists(qry_root_directory):\n",
+    "if (not os.path.exists(qry_root_directory)) and (hf_app):\n",
     "    snapshot_download(\n",
     "        repo_id=\"CMalone-Jupiter/FRED\",\n",
     "        repo_type=\"dataset\",\n",
@@ -56,7 +61,7 @@
     "ref_camera_pos = 'front'\n",
     "ref_root_directory = f\"/data/FRED/{ref_condition}/KITTI-style\"\n",
     "\n",
-    "if not os.path.exists(ref_root_directory):\n",
+    "if (not os.path.exists(ref_root_directory)) and (hf_app):\n",
     "    snapshot_download(\n",
     "        repo_id=\"CMalone-Jupiter/FRED\",\n",
     "        repo_type=\"dataset\",\n",

localisation/plot_utm_traj.ipynb

@@ -29,9 +29,14 @@
     "from utils.camera import ImageData\n",
     "import utils.utils as utils\n",
     "from natsort import natsorted\n",
-    "from huggingface_hub import snapshot_download\n",
     "\n",
-    "cmap = plt.get_cmap(\"jet\")"
+    "cmap = plt.get_cmap(\"jet\")\n",
+    "\n",
+    "# Toggle the following boolean to False if not using HuggingFace App\n",
+    "hf_app = True\n",
+    "\n",
+    "if hf_app:\n",
+    "    from huggingface_hub import snapshot_download"
    ]
   },
   {
@@ -58,7 +63,7 @@
     "qry_camera_pos = 'front'\n",
     "qry_root_directory = f\"/data/FRED/{qry_condition}/KITTI-style\"\n",
     "\n",
-    "if not os.path.exists(qry_root_directory):\n",
+    "if (not os.path.exists(qry_root_directory)) and (hf_app):\n",
     "    snapshot_download(\n",
     "        repo_id=\"CMalone-Jupiter/FRED\",\n",
     "        repo_type=\"dataset\",\n",
@@ -78,7 +83,7 @@
     "ref_camera_pos = 'front'\n",
     "ref_root_directory = f\"/data/FRED/{ref_condition}/KITTI-style\"\n",
     "\n",
-    "if not os.path.exists(ref_root_directory):\n",
+    "if (not os.path.exists(ref_root_directory)) and (hf_app):\n",
     "    snapshot_download(\n",
     "        repo_id=\"CMalone-Jupiter/FRED\",\n",
     "        repo_type=\"dataset\",\n",

segmentation/show_labels-single.ipynb

@@ -19,7 +19,12 @@
     "from utils.camera import ImageData\n",
     "import utils.utils as utils\n",
     "from natsort import natsorted\n",
-    "from huggingface_hub import snapshot_download"
+    "\n",
+    "# Toggle the following boolean to False if not using HuggingFace App\n",
+    "hf_app = True\n",
+    "\n",
+    "if hf_app:\n",
+    "    from huggingface_hub import snapshot_download"
    ]
   },
   {
@@ -37,7 +42,7 @@
     "camera_pos = 'front'\n",
     "root_directory = f\"/data/FRED/{condition}/KITTI-style\"\n",
     "\n",
-    "if not os.path.exists(root_directory):\n",
+    "if (not os.path.exists(root_directory)) and (hf_app):\n",
     "    snapshot_download(\n",
     "        repo_id=\"CMalone-Jupiter/FRED\",\n",
     "        repo_type=\"dataset\",\n",

visualisation/points2image-single.ipynb

@@ -20,9 +20,14 @@
     "from utils.camera import ImageData\n",
     "import utils.utils as utils\n",
     "from natsort import natsorted\n",
-    "from huggingface_hub import snapshot_download\n",
     "\n",
-    "cmap = plt.get_cmap(\"jet\")"
+    "cmap = plt.get_cmap(\"jet\")\n",
+    "\n",
+    "# Toggle the following boolean to False if not using HuggingFace App\n",
+    "hf_app = True\n",
+    "\n",
+    "if hf_app:\n",
+    "    from huggingface_hub import snapshot_download"
    ]
   },
   {
@@ -39,7 +44,7 @@
     "camera_pos = 'front'\n",
     "root_directory = f\"/data/FRED/{condition}/KITTI-style\"\n",
     "\n",
-    "if not os.path.exists(root_directory):\n",
+    "if (not os.path.exists(root_directory)) and (hf_app):\n",
     "    snapshot_download(\n",
     "        repo_id=\"CMalone-Jupiter/FRED\",\n",
     "        repo_type=\"dataset\",\n",