full upload so not to lose anything important

tools/render3d.py

@@ -1,21 +1,24 @@
-from configargparse import ArgParser, YAMLConfigFileParser, ArgumentDefaultsRawHelpFormatter
+from pathlib import Path
 from sys import exit
-from open3d.visualization.rendering import OffscreenRenderer, MaterialRecord
+
+import matplotlib.pyplot as plt
+import numpy as np
+from configargparse import (
+    ArgParser,
+    ArgumentDefaultsRawHelpFormatter,
+    YAMLConfigFileParser,
+)
 from open3d.io import read_pinhole_camera_parameters, write_image
 from open3d.utility import Vector3dVector
-from pathlib import Path
+from open3d.visualization.rendering import MaterialRecord, OffscreenRenderer
 from pointcloudset import Dataset
 from rich.progress import track
 
-import matplotlib.pyplot as plt
-
-import numpy as np
-
 from util import (
-    load_dataset,
-    existing_file,
-    create_video_from_images,
     calculate_average_frame_rate,
+    create_video_from_images,
+    existing_file,
+    load_dataset,
 )
 
 
@@ -42,14 +45,18 @@ def render_3d_images(
         distances = np.linalg.norm(points, axis=1)
         max_distance = distances.max()
         min_distance = distances.min()
-        normalized_distances = (distances - min_distance) / (max_distance - min_distance)
+        normalized_distances = (distances - min_distance) / (
+            max_distance - min_distance
+        )
         colors = plt.get_cmap("jet")(normalized_distances)[:, :3]
         pcd.colors = Vector3dVector(colors)
         return pcd
 
     rendered_images = []
 
-    for i, pc in track(enumerate(dataset, 1), description="Rendering images...", total=len(dataset)):
+    for i, pc in track(
+        enumerate(dataset, 1), description="Rendering images...", total=len(dataset)
+    ):
         o3d_pc = pc.to_instance("open3d")
         o3d_pc = color_points_by_range(o3d_pc)
         renderer.scene.add_geometry("point_cloud", o3d_pc, MaterialRecord())
@@ -68,19 +75,35 @@ def main() -> int:
         formatter_class=ArgumentDefaultsRawHelpFormatter,
         description="Render a 3d representation of a point cloud",
     )
-    parser.add_argument("--render-config-file", is_config_file=True, help="yaml config file path")
-    parser.add_argument("--input-bag-path", required=True, type=existing_file, help="path to bag file")
     parser.add_argument(
-        "--tmp-files-path", default=Path("./tmp"), type=Path, help="path temporary files will be written to"
+        "--render-config-file", is_config_file=True, help="yaml config file path"
     )
     parser.add_argument(
-        "--output-images", type=bool, default=True, help="if rendered frames should be outputted as images"
+        "--input-bag-path", required=True, type=existing_file, help="path to bag file"
     )
     parser.add_argument(
-        "--output-images-path", default=Path("./output"), type=Path, help="path rendered frames should be written to"
+        "--tmp-files-path",
+        default=Path("./tmp"),
+        type=Path,
+        help="path temporary files will be written to",
     )
     parser.add_argument(
-        "--output-video", type=bool, default=True, help="if rendered frames should be outputted as a video"
+        "--output-images",
+        type=bool,
+        default=True,
+        help="if rendered frames should be outputted as images",
+    )
+    parser.add_argument(
+        "--output-images-path",
+        default=Path("./output"),
+        type=Path,
+        help="path rendered frames should be written to",
+    )
+    parser.add_argument(
+        "--output-video",
+        type=bool,
+        default=True,
+        help="if rendered frames should be outputted as a video",
     )
     parser.add_argument(
         "--output-video-path",
@@ -88,7 +111,12 @@ def main() -> int:
         type=Path,
         help="path rendered video should be written to",
     )
-    parser.add_argument("--output-images-prefix", default="2d_render", type=str, help="filename prefix for output")
+    parser.add_argument(
+        "--output-images-prefix",
+        default="2d_render",
+        type=str,
+        help="filename prefix for output",
+    )
     parser.add_argument(
         "--camera-config-input-json-path",
         default="./saved_camera_settings.json",
@@ -110,12 +138,21 @@ def main() -> int:
     dataset = load_dataset(args.input_bag_path)
 
     images = render_3d_images(
-        dataset, args.camera_config_input_json_path, args.tmp_files_path, args.output_images_prefix
+        dataset,
+        args.camera_config_input_json_path,
+        args.tmp_files_path,
+        args.output_images_prefix,
     )
 
     if args.output_video:
-        input_images_pattern = f"{args.tmp_files_path / args.output_images_prefix}_%04d.png"
-        create_video_from_images(input_images_pattern, args.output_video_path, calculate_average_frame_rate(dataset))
+        input_images_pattern = (
+            f"{args.tmp_files_path / args.output_images_prefix}_%04d.png"
+        )
+        create_video_from_images(
+            input_images_pattern,
+            args.output_video_path,
+            calculate_average_frame_rate(dataset),
+        )
 
     if not args.output_images:
         for image in images: