added pickle file for training with lidar range data to output options

tools/util.py

@@ -8,14 +8,17 @@ from matplotlib.colors import Colormap
 from matplotlib import colormaps
 
 
-def load_dataset(bag_file_path: Path, pointcloud_topic: str = "/ouster/points") -> Dataset:
+def load_dataset(
+    bag_file_path: Path, pointcloud_topic: str = "/ouster/points"
+) -> Dataset:
     return Dataset.from_file(bag_file_path, topic=pointcloud_topic)
 
 
-
 def calculate_average_frame_rate(dataset: Dataset):
     timestamps = dataset.timestamps
-    time_deltas = [timestamps[i + 1] - timestamps[i] for i in range(len(timestamps) - 1)]
+    time_deltas = [
+        timestamps[i + 1] - timestamps[i] for i in range(len(timestamps) - 1)
+    ]
     average_delta = sum(time_deltas, timedelta()) / len(time_deltas)
     average_frame_rate = 1 / average_delta.total_seconds()
     return average_frame_rate
@@ -38,39 +41,52 @@ def existing_folder(path_string: str) -> Path:
         raise ArgumentTypeError(f"{path} is not a valid folder!")
     return path
 
+
 def existing_path(path_string: str) -> Path:
     path = Path(path_string)
     if not path.exists():
         raise ArgumentTypeError(f"{path} does not exist!")
     return path
 
+
 def positive_int(number_str: str) -> int:
     number_val = int(number_str)
     if number_val < 0:
         raise ArgumentTypeError(f"{number_val} is not a positive integer!")
     return number_val
 
+
 def angle(angle_str: str) -> float:
     angle_val = float(angle_str)
     if angle_val < 0 or angle_val >= 360:
-        raise ArgumentTypeError(f"{angle_val} is not a valid angle! Needs to be in [0, 360)")
+        raise ArgumentTypeError(
+            f"{angle_val} is not a valid angle! Needs to be in [0, 360)"
+        )
     return angle_val
 
+
 def angle_width(angle_str: str) -> float:
     angle_val = float(angle_str)
     if angle_val < 0 or angle_val > 360:
-        raise ArgumentTypeError(f"{angle_val} is not a valid angle width! Needs to be in [0, 360]")
+        raise ArgumentTypeError(
+            f"{angle_val} is not a valid angle width! Needs to be in [0, 360]"
+        )
     return angle_val
 
+
 def get_colormap_with_special_missing_color(
     colormap_name: str, missing_data_color: str = "black", reverse: bool = False
 ) -> Colormap:
-    colormap = colormaps[colormap_name] if not reverse else colormaps[f"{colormap_name}_r"]
+    colormap = (
+        colormaps[colormap_name] if not reverse else colormaps[f"{colormap_name}_r"]
+    )
     colormap.set_bad(missing_data_color)
     return colormap
 
 
-def create_video_from_images(input_images_pattern: str, output_file: Path, frame_rate: int) -> None:
+def create_video_from_images(
+    input_images_pattern: str, output_file: Path, frame_rate: int
+) -> None:
     # Construct the ffmpeg command
     command = [
         "ffmpeg",