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lidar_postprocessing/create_range_imgs.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "id": "411e4917",
    "metadata": {},
    "outputs": [
@@ -22,7 +22,6 @@
     "import sys\n",
     "sys.path.append(os.path.abspath(\"..\"))   # one level up\n",
     "import numpy as np\n",
-    "# print(os.getcwd())\n",
     "import cv2\n",
     "import open3d as o3d\n",
     "import matplotlib.pyplot as plt\n",
@@ -47,9 +46,6 @@
     "sequence = '20250811_113017'\n",
     "condition = 'flooded'\n",
     "camera_pos = 'front'\n",
-    "# root_directory = f\"../../Datasets/FRED/{condition}/KITTI-style\"\n",
-    "# root_directory = f\"C:/Users/conno/Documents/data/FRED/{condition}/KITTI-style\"\n",
-    "# 01000000\n",
     "root_directory = f\"/data/FRED/{condition}/KITTI-style\"\n",
     "\n",
     "if not os.path.exists(root_directory):\n",
@@ -72,8 +68,8 @@
     "\n",
     "timestamps = [filename.split('.png')[0] for filename in natsorted(os.listdir(image_dir)) if os.path.isfile(image_dir+filename)]\n",
     "\n",
-    "# image_timestamp = '20641521'\n",
-    "image_timestamp = timestamps[183]\n",
+    "timestamp_idx = 183\n",
+    "image_timestamp = timestamps[timestamp_idx]\n",
     "\n",
     "image_filename = f\"{image_dir}/{image_timestamp}.png\"\n",
     "\n",

localisation/groundtruth_utm-single.ipynb

@@ -29,19 +29,12 @@
    "outputs": [],
    "source": [
     "# User parameters\n",
-    "# location = 'Holmview'\n",
-    "# location = 'Cambogan'\n",
-    "location = 'DairyCreek'\n",
+    "location = 'Cambogan'\n",
     "\n",
     "################ Query filenames and directories #################################\n",
-    "# qry_sequence = '20250820_130327'\n",
-    "# qry_sequence = '20250811_113017'\n",
-    "# qry_sequence = '20250811_113017'\n",
-    "qry_sequence = '20250811_103318'\n",
+    "qry_sequence = '20250811_113017'\n",
     "qry_condition = 'flooded'\n",
     "qry_camera_pos = 'front'\n",
-    "# qry_root_directory = f\"../../Datasets/FRED/{qry_condition}/KITTI-style\"\n",
-    "# qry_root_directory = f\"U:/Research/Projects/KVFPRA9190/FRED/{qry_condition}/KITTI-style\"\n",
     "qry_root_directory = f\"/data/FRED/{qry_condition}/KITTI-style\"\n",
     "\n",
     "if not os.path.exists(qry_root_directory):\n",
@@ -58,14 +51,9 @@
     "qry_timestamps = [filename.split('.png')[0] for filename in natsorted(os.listdir(qry_image_dir)) if os.path.isfile(qry_image_dir+filename)]\n",
     "\n",
     "################ Reference filenames and directories #################################\n",
-    "location = 'Dairy-Creek'\n",
-    "# ref_sequence = '20250812_120100'\n",
-    "# ref_sequence = '20250812_122339'\n",
-    "ref_sequence = '20250812_122954'\n",
+    "ref_sequence = '20250812_122339'\n",
     "ref_condition = 'dry'\n",
     "ref_camera_pos = 'front'\n",
-    "# ref_root_directory = f\"../../Datasets/FRED/{ref_condition}/KITTI-style\"\n",
-    "# ref_root_directory = f\"U:/Research/Projects/KVFPRA9190/FRED/{ref_condition}/KITTI-style\"\n",
     "ref_root_directory = f\"/data/FRED/{ref_condition}/KITTI-style\"\n",
     "\n",
     "if not os.path.exists(ref_root_directory):\n",
@@ -91,7 +79,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": null,
    "metadata": {},
    "outputs": [
     {
@@ -110,8 +98,7 @@
     "ax[0].clear()\n",
     "ax[1].clear()\n",
     "\n",
-    "# qry_image_timestamp = qry_timestamps[qry_idx]\n",
-    "qry_image_timestamp = '644468810'\n",
+    "qry_image_timestamp = qry_timestamps[qry_idx]\n",
     "qry_image_filename = f\"{qry_image_dir}/{qry_image_timestamp}.png\"\n",
     "qry_utm_timestamp = utils.get_corr_files(qry_image_timestamp, [qry_utm_dir,])\n",
     "qry_utm = np.loadtxt(qry_utm_timestamp)\n",

localisation/plot_utm_traj.ipynb

@@ -51,16 +51,11 @@
     "\n",
     "# User parameters\n",
     "location = 'Cambogan'\n",
-    "# sequence = '20250811_113017'\n",
-    "# location = 'Holmview'\n",
     "\n",
     "################ Query filenames and directories #################################\n",
-    "# qry_sequence = '20250820_130327'\n",
     "qry_sequence = '20250811_113017'\n",
     "qry_condition = 'flooded'\n",
     "qry_camera_pos = 'front'\n",
-    "# qry_root_directory = f\"../../Datasets/FRED/{qry_condition}/KITTI-style\"\n",
-    "# qry_root_directory = f\"U:/Research/Projects/KVFPRA9190/FRED/{qry_condition}/KITTI-style\"\n",
     "qry_root_directory = f\"/data/FRED/{qry_condition}/KITTI-style\"\n",
     "\n",
     "if not os.path.exists(qry_root_directory):\n",
@@ -78,12 +73,9 @@
     "qry_timestamps = [filename.split('.png')[0] for filename in natsorted(os.listdir(qry_image_dir)) if os.path.isfile(qry_image_dir+filename)]\n",
     "\n",
     "################ Reference filenames and directories #################################\n",
-    "# ref_sequence = '20250812_120100'\n",
     "ref_sequence = '20250812_122339'\n",
     "ref_condition = 'dry'\n",
     "ref_camera_pos = 'front'\n",
-    "# ref_root_directory = f\"../../Datasets/FRED/{ref_condition}/KITTI-style\"\n",
-    "# ref_root_directory = f\"U:/Research/Projects/KVFPRA9190/FRED/{ref_condition}/KITTI-style\"\n",
     "ref_root_directory = f\"/data/FRED/{ref_condition}/KITTI-style\"\n",
     "\n",
     "if not os.path.exists(ref_root_directory):\n",
@@ -101,15 +93,12 @@
     "ref_img_filenames = [filename for filename in natsorted(os.listdir(ref_image_dir)) if os.path.isfile(ref_image_dir+filename)]\n",
     "ref_timestamps = [filename.split('.png')[0] for filename in natsorted(os.listdir(ref_image_dir)) if os.path.isfile(ref_image_dir+filename)]\n",
     "\n",
-    "end_ref = np.where((qry_utms[-1,0] < ref_utms[:,0]) * (qry_utms[-1,1] > ref_utms[:,1]))[0][0]\n",
-    "print(end_ref)\n",
-    "\n",
-    "# img_calib_file = f\"./camera_calib.txt\""
+    "end_ref = np.where((qry_utms[-1,0] < ref_utms[:,0]) * (qry_utms[-1,1] > ref_utms[:,1]))[0][0]"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": null,
    "metadata": {},
    "outputs": [
     {
@@ -136,8 +125,7 @@
    "source": [
     "plt.figure(figsize=(12,4))\n",
     "plt.plot(qry_utms[:,0]-qry_utms[0,0], qry_utms[:,1]-qry_utms[0,1])\n",
-    "plt.plot(ref_utms[:end_ref,0]-qry_utms[0,0], ref_utms[:end_ref,1]-qry_utms[0,1], '--')\n",
-    "# plt.savefig('../paper_figures/trajectory_plot.pdf', format=\"pdf\", bbox_inches='tight')"
+    "plt.plot(ref_utms[:end_ref,0]-qry_utms[0,0], ref_utms[:end_ref,1]-qry_utms[0,1], '--')"
    ]
   }
  ],

segmentation/show_labels-single.ipynb

@@ -11,7 +11,6 @@
     "import sys\n",
     "sys.path.append(os.path.abspath(\"..\"))   # one level up\n",
     "import numpy as np\n",
-    "# print(os.getcwd())\n",
     "import cv2\n",
     "import open3d as o3d\n",
     "import matplotlib.pyplot as plt\n",
@@ -30,15 +29,12 @@
    "outputs": [],
    "source": [
     "# User parameters\n",
-    "location = 'Holmview'\n",
-    "# location = 'Cambogan'\n",
+    "location = 'Cambogan'\n",
     "\n",
     "################ Query filenames and directories #################################\n",
-    "sequence = '20250820_130327'\n",
-    "# sequence = '20250811_113017'\n",
+    "sequence = '20250811_113017'\n",
     "condition = 'flooded'\n",
     "camera_pos = 'front'\n",
-    "# root_directory = f\"../../Datasets/FRED/{condition}/KITTI-style\"\n",
     "root_directory = f\"/data/FRED/{condition}/KITTI-style\"\n",
     "\n",
     "if not os.path.exists(root_directory):\n",

visualisation/points2image-single.ipynb

@@ -12,7 +12,6 @@
     "import sys\n",
     "sys.path.append(os.path.abspath(\"..\"))   # one level up\n",
     "import numpy as np\n",
-    "# print(os.getcwd())\n",
     "import cv2\n",
     "import open3d as o3d\n",
     "import matplotlib.pyplot as plt\n",
@@ -36,18 +35,8 @@
     "# User parameters\n",
     "location = 'Cambogan'\n",
     "sequence = '20250811_113017'\n",
-    "# location = 'DairyCreek'\n",
-    "# sequence = '20250811_103318'\n",
-    "# location = 'Mount-Cotton'\n",
-    "# sequence = '20241217_113410'\n",
     "condition = 'flooded'\n",
-    "# location = 'Dairy-Creek'\n",
-    "# sequence = '20250812_122954'\n",
-    "# condition = 'dry'\n",
     "camera_pos = 'front'\n",
-    "# root_directory = f\"../../Datasets/FRED/{condition}/KITTI-style\"\n",
-    "# root_directory = f\"C:/Users/conno/Documents/data/FRED/{condition}/KITTI-style\"\n",
-    "# root_directory = f\"U:/Research/Projects/KVFPRA9190/FRED/{condition}/KITTI-style\"\n",
     "root_directory = f\"/data/FRED/{condition}/KITTI-style\"\n",
     "\n",
     "if not os.path.exists(root_directory):\n",
@@ -70,10 +59,8 @@
     "\n",
     "timestamps = [filename.split('.png')[0] for filename in natsorted(os.listdir(image_dir)) if os.path.isfile(image_dir+filename)]\n",
     "\n",
-    "# image_timestamp = '644468810'\n",
-    "# image_timestamp = '30206763'\n",
-    "image_timestamp = '23641484'\n",
-    "# image_timestamp = timestamps[1250]\n",
+    "timestamp_idx = 100\n",
+    "image_timestamp = timestamps[timestamp_idx]\n",
     "\n",
     "image_filename = f\"{image_dir}/{image_timestamp}.png\"\n",
     "\n",
@@ -108,16 +95,9 @@
     "\n",
     "img_vis, _, _, _ = image.project_points(all_points_cam, intensities_cam, cmap, valid_cam, colour_norm=255)\n",
     "\n",
-    "# plt.figure(figsize=(12.8,8))\n",
-    "# plt.imshow(image.image[:,:,::-1])\n",
-    "# plt.axis('off')\n",
-    "\n",
-    "os.makedirs('paper_figures/', exist_ok=True)\n",
-    "\n",
     "plt.figure(figsize=(12.8,8))\n",
     "plt.imshow(img_vis[:,:,::-1])\n",
-    "plt.axis('off')\n",
-    "# plt.savefig('paper_figures/projected_pointcloud_intensity-v2.pdf', format=\"pdf\", bbox_inches='tight')\n"
+    "plt.axis('off')\n"
    ]
   }
  ],