adopted 2d rendering for vif dataset

tools/util.py

@@ -1,4 +1,5 @@
 from pointcloudset import Dataset
+from pointcloudset.io.dataset.ros import dataset_from_ros
 from pathlib import Path
 from argparse import ArgumentTypeError
 from subprocess import run
@@ -7,10 +8,11 @@ from matplotlib.colors import Colormap
 from matplotlib import colormaps
 
 
-def load_dataset_from_bag(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)]
@@ -32,10 +34,33 @@ def existing_folder(path_string: str) -> Path:
     path = Path(path_string)
     if not path.exists():
         raise ArgumentTypeError(f"{path} does not exist!")
-    if not path.is_folder():
+    if not path.is_dir():
         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)")
+    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]")
+    return angle_val
 
 def get_colormap_with_special_missing_color(
     colormap_name: str, missing_data_color: str = "black", reverse: bool = False