Prepared code for first release

python/README.md

@@ -21,21 +21,3 @@ vbr_download --dataset <sequence_name> --save-dir <output_path>
 
 You can get the list of all the available sequences by using the `-h | --help` flag
 
-```shell
-❯ vbr_download -h
-usage: vbr_download [-h] --dataset
-                    {all,campus_test0,campus_test1,campus_train0,campus_train1,ciampino_test0,ciampino_t
-est1,ciampino_train0,ciampino_train1,colosseo_test0,colosseo_train0,diag_test0,diag_train0,pincio_test0,
-pincio_train0,spagna_test0,spagna_train0}
-                    --save-dir PATH
-
-╭─ options ────────────────────────────────────────────────────────────────────────────────────────────╮
-│ -h, --help             show this help message and exit                                               │
-│ --dataset                                                                                            │
-│ {all,campus_test0,campus_test1,campus_train0,campus_train1,ciampino_test0,ciampino_test1,ciampino_t… │
-│                        (required)                                                                    │
-│ --save-dir PATH        (required)                                                                    │
-╰──────────────────────────────────────────────────────────────────────────────────────────────────────╯
-```
-
-

python/pyproject.toml

@@ -24,15 +24,12 @@ dependencies = [
     "natsort",
     "numpy",
     "rich",
-    "tqdm",
     "typer[all]>=0.10.0",
-    "rosbags",
-    "tyro"
+    "rosbags"
 ]
 
 [project.scripts]
-vbr_download = "vbr_devkit.download.download_data:entrypoint"
-vbr_convert = "vbr_devkit.datasets.convert_bag:entrypoint"
+vbr = "vbr_devkit.tools.run:app"
 
 [project.urls]
 Homepage = "https://github.com/rvp-group/vbr-devkit"

python/vbr_devkit/__init__.py

@@ -1 +1 @@
-__version__ = "0.0.1"
+__version__ = "0.0.0-alpha"

python/vbr_devkit/datasets/__init__.py

@@ -0,0 +1,2 @@
+from .ros import RosReader
+from .kitti import KittiWriter

python/vbr_devkit/datasets/convert_bag.py

@@ -1,25 +1,29 @@
-import tyro
+import sys
+sys.path.append("/home/eg/source/vbr-devkit/python")
+
 from pathlib import Path
-from typing import Union
-from dataclasses import dataclass
-from typing_extensions import Annotated
-from kitti import KittiWriter
 
-@dataclass
-class Args:
-    input_dir: Path = "/"
-    to = Union[
-        Annotated[KittiWriter, tyro.conf.subcommand(name="kitti")]
-    ]
-    output_dir: Path = "/"
+from vbr_devkit.datasets import KittiWriter, RosReader
+import typer
+from enum import Enum
+from rich.progress import track
 
-def main(args: Args) -> None:
-    ...
 
-def entrypoint():
-    tyro.run(main)
+class OutputDataInterface(str, Enum):
+    kitti = "kitti",
+    # Can insert additional conversion formats
 
-if __name__ == "__main__":
-    entrypoint()
-
 
+OutputDataInterface_lut = {
+    OutputDataInterface.kitti: KittiWriter
+}
+
+def main(to: OutputDataInterface, input_dir: Path, output_dir: Path) -> None:
+    with RosReader(input_dir) as reader:
+        with OutputDataInterface_lut[to](output_dir) as writer:
+            for timestamp, topic, message in track(reader, description="Processing..."):
+                writer.publish(timestamp, topic, message)
+
+
+if __name__ == "__main__":
+    typer.run(main)

python/vbr_devkit/datasets/kitti.py

@@ -117,7 +117,7 @@ def __init__(self, data_dir: Path):
     def __enter__(self):
         return self
 
-    def publish(self, topic: str, timestamp, message: Union[PointCloudXf, Image, Imu]):
+    def publish(self, timestamp, topic: str, message: Union[PointCloudXf, Image, Imu]):
         if topic not in self.data_handles.keys():
             # Infer path to store stuff
             # Remove first / on topic
@@ -131,16 +131,4 @@ def publish(self, topic: str, timestamp, message: Union[PointCloudXf, Image, Imu
 
     def __exit__(self, exc_type, exc_val, exc_tb):
         for handle in self.data_handles:
-            self.data_handles[handle].close()
-
-
-from ros import RosReader
-from tqdm import tqdm
-
-if __name__ == "__main__":
-    with KittiWriter(Path("/home/eg/data/test_download/vbr_slam/campus/campus_test0/campus_test0_00_kitti")) as writer:
-        with RosReader(Path("/home/eg/data/test_download/vbr_slam/campus/campus_test0/campus_test0_00.bag"),
-                       topics=["/ouster/points"]) as reader:
-            for timestamp, topic, message in tqdm(reader, desc="Reading bag"):
-                # print(f"Topic={topic} | Timestamp={timestamp} (type=({type(timestamp)}) | message_type=({type(message)})")
-                writer.publish(topic, timestamp, message)
+            self.data_handles[handle].close()

python/vbr_devkit/datasets/ros.py

@@ -9,7 +9,7 @@
 
 
 class RosReader:
-    def __init__(self, data_dir: Sequence[Path], topics: List[str] = None, *args,
+    def __init__(self, data_dir: Union[Path, Sequence[Path]], topics: List[str] = None, *args,
                  **kwargs):
         """
         :param data_dir: Directory containing rosbags or path to a rosbag file

python/vbr_devkit/download/download_data.py

@@ -1,16 +1,13 @@
 from pathlib import Path
 import ftplib
-import tyro
-from typing import TYPE_CHECKING
-from rich.console import Console
-from rich.progress import Progress
+from rich.progress import Progress, SpinnerColumn, TextColumn
 from rich.panel import Panel
+from vbr_devkit.tools.console import console
 
 DATASET_LINK = "151.100.59.119"
 FTP_USER = "anonymous"
 
 vbr_downloads = [
-    "all",
     "campus_test0",
     "campus_test1",
     "campus_train0",
@@ -29,44 +26,51 @@
     "spagna_train0",
 ]
 
-if TYPE_CHECKING:
-    VbrSlamCaptureName = str
-else:
-    VbrSlamCaptureName = tyro.extras.literal_type_from_choices(vbr_downloads)
+def download_seq_fld(seq: str, output_dir: Path) -> None:
+    def human_readable_size(size, decimal_places=2):
+        for unit in ['B', 'KiB', 'MiB', 'GiB', 'TiB', 'PiB']:
+            if size < 1024.0 or unit == 'PiB':
+                break
+            size /= 1024.0
+        return f"{size:.{decimal_places}f} {unit}"
 
-CONSOLE = Console(width=120)
-def main(
-        dataset: VbrSlamCaptureName,
-        save_dir: Path,
-):
-    CONSOLE.rule(f"[bold green] Downloading {dataset}")
-    if dataset == "all":
-        for seq in vbr_downloads:
-            if seq != "all":
-                main(seq, save_dir)
-
-
-    save_dir.mkdir(parents=True, exist_ok=True)
+    console.rule(f"[bold green] Downloading {seq}")
+    # output_dir.mkdir(parents=True, exist_ok=True)
 
+    # Establish FTP connection
+    console.log(f"Connecting to {DATASET_LINK}")
     ftp = ftplib.FTP(DATASET_LINK)
     ftp.login(FTP_USER, "")
-    db_path = "vbr_slam/" + dataset.split("_")[0] + "/" + dataset
-    ftp.cwd(db_path)
-    try:
-        available_files = ftp.nlst()
-    except ftplib.error_perm as resp:
-        if str(resp) == "550 No files found":
-            CONSOLE.log("[bold red] Invalid input sequence")
-        else:
-            raise
+    console.log(":white_check_mark: Connection established")
+    with Progress(
+            SpinnerColumn(),
+            TextColumn("[progress.description]{task.description}"),
+            transient=True) as progress:
+        progress.add_task("Gathering files", total=None)
+        db_path = "vbr_slam/" + seq.split("_")[0] + "/" + seq
+        ftp.cwd(db_path)
 
-    CONSOLE.print(Panel(
-        " ".join([f"{f}" for f in available_files]), title="Download table"))
+        try:
+            available_files = ftp.nlst()
+            available_files = [(file, ftp.size(file)) for file in available_files]
+        except ftplib.error_perm as resp:
+            if str(resp) == "550 No files found":
+                console.log("[bold red] Invalid input sequence")
+            else:
+                raise
+        # Sort based on size
+        available_files = sorted(available_files, key=lambda x: x[1])
 
+    console.print(Panel(
+        "\n".join(f"{f[0]}\t{human_readable_size(f[1])}" for f in available_files), title="Downloading files"
+    ))
+
+    available_files = [x[0] for x in available_files]
+    # Downloading routine
     with Progress() as progress:
         for f in available_files:
-            local_path = save_dir / "vbr_slam" / dataset.split("_")[0] / dataset
-            local_path.mkdir(parents=True, exist_ok=True)
+            local_path = output_dir / "vbr_slam" / seq.split("_")[0] / seq
+            local_path.mkdir(exist_ok=True, parents=True)
             local_fname = local_path / f
             fout = open(local_fname, "wb")
             task = progress.add_task(f"Downloading {f}", total=ftp.size(f))
@@ -78,12 +82,4 @@ def write_cb(data):
             ftp.retrbinary("RETR " + f, write_cb)
             fout.close()
     ftp.quit()
-    CONSOLE.print("[bold green] Done!")
-
-
-def entrypoint():
-    tyro.cli(main)
-
-
-if __name__ == "__main__":
-    entrypoint()
+    console.print(":tada: Completed")

python/vbr_devkit/tools/console.py

@@ -0,0 +1,3 @@
+from rich.console import Console
+
+console = Console()